@smake/eigen 1.0.1 → 1.1.0

package/eigen/Eigen/src/Eigenvalues/RealQZ.h

@@ -90,8 +90,9 @@ namespace Eigen {
         m_Z(size, size),
         m_workspace(size*2),
         m_maxIters(400),
-        m_isInitialized(false)
-        { }
+        m_isInitialized(false),
+        m_computeQZ(true)
+      {}
 
       /** \brief Constructor; computes real QZ decomposition of given matrices
        * 
@@ -108,9 +109,11 @@ namespace Eigen {
         m_Z(A.rows(),A.cols()),
         m_workspace(A.rows()*2),
         m_maxIters(400),
-        m_isInitialized(false) {
-          compute(A, B, computeQZ);
-        }
+        m_isInitialized(false),
+        m_computeQZ(true)
+      {
+        compute(A, B, computeQZ);
+      }
 
       /** \brief Returns matrix Q in the QZ decomposition. 
        *
@@ -161,7 +164,7 @@ namespace Eigen {
 
       /** \brief Reports whether previous computation was successful.
        *
-       * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+       * \returns \c Success if computation was successful, \c NoConvergence otherwise.
        */
       ComputationInfo info() const
       {

package/eigen/Eigen/src/Eigenvalues/RealSchur.h

@@ -190,7 +190,7 @@ template<typename _MatrixType> class RealSchur
     RealSchur& computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU);
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
       */
     ComputationInfo info() const
     {
@@ -270,8 +270,13 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const EigenBase<InputType>
   // Step 1. Reduce to Hessenberg form
   m_hess.compute(matrix.derived()/scale);
 
-  // Step 2. Reduce to real Schur form  
-  computeFromHessenberg(m_hess.matrixH(), m_hess.matrixQ(), computeU);
+  // Step 2. Reduce to real Schur form
+  // Note: we copy m_hess.matrixQ() into m_matU here and not in computeFromHessenberg
+  //       to be able to pass our working-space buffer for the Householder to Dense evaluation.
+  m_workspaceVector.resize(matrix.cols());
+  if(computeU)
+    m_hess.matrixQ().evalTo(m_matU, m_workspaceVector);
+  computeFromHessenberg(m_hess.matrixH(), m_matU, computeU);
 
   m_matT *= scale;
   
@@ -284,13 +289,13 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMa
   using std::abs;
 
   m_matT = matrixH;
-  if(computeU)
+  m_workspaceVector.resize(m_matT.cols());
+  if(computeU && !internal::is_same_dense(m_matU,matrixQ))
     m_matU = matrixQ;
   
   Index maxIters = m_maxIters;
   if (maxIters == -1)
     maxIters = m_maxIterationsPerRow * matrixH.rows();
-  m_workspaceVector.resize(m_matT.cols());
   Scalar* workspace = &m_workspaceVector.coeffRef(0);
 
   // The matrix m_matT is divided in three parts. 

package/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h

@@ -20,7 +20,9 @@ class GeneralizedSelfAdjointEigenSolver;
 
 namespace internal {
 template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
+
 template<typename MatrixType, typename DiagType, typename SubDiagType>
+EIGEN_DEVICE_FUNC
 ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
 }
 
@@ -42,10 +44,14 @@ ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag
   * \f$ v \f$ such that \f$ Av = \lambda v \f$.  The eigenvalues of a
   * selfadjoint matrix are always real. If \f$ D \f$ is a diagonal matrix with
   * the eigenvalues on the diagonal, and \f$ V \f$ is a matrix with the
-  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$ (for selfadjoint
-  * matrices, the matrix \f$ V \f$ is always invertible). This is called the
+  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$. This is called the
   * eigendecomposition.
   *
+  * For a selfadjoint matrix, \f$ V \f$ is unitary, meaning its inverse is equal
+  * to its adjoint, \f$ V^{-1} = V^{\dagger} \f$. If \f$ A \f$ is real, then
+  * \f$ V \f$ is also real and therefore orthogonal, meaning its inverse is
+  * equal to its transpose, \f$ V^{-1} = V^T \f$.
+  *
   * The algorithm exploits the fact that the matrix is selfadjoint, making it
   * faster and more accurate than the general purpose eigenvalue algorithms
   * implemented in EigenSolver and ComplexEigenSolver.
@@ -119,7 +125,10 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
         : m_eivec(),
           m_eivalues(),
           m_subdiag(),
-          m_isInitialized(false)
+          m_hcoeffs(),
+          m_info(InvalidInput),
+          m_isInitialized(false),
+          m_eigenvectorsOk(false)
     { }
 
     /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
@@ -139,7 +148,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
         : m_eivec(size, size),
           m_eivalues(size),
           m_subdiag(size > 1 ? size - 1 : 1),
-          m_isInitialized(false)
+          m_hcoeffs(size > 1 ? size - 1 : 1),
+          m_isInitialized(false),
+          m_eigenvectorsOk(false)
     {}
 
     /** \brief Constructor; computes eigendecomposition of given matrix.
@@ -163,7 +174,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       : m_eivec(matrix.rows(), matrix.cols()),
         m_eivalues(matrix.cols()),
         m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
-        m_isInitialized(false)
+        m_hcoeffs(matrix.cols() > 1 ? matrix.cols() - 1 : 1),
+        m_isInitialized(false),
+        m_eigenvectorsOk(false)
     {
       compute(matrix.derived(), options);
     }
@@ -250,6 +263,11 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * matrix \f$ A \f$, then the matrix returned by this function is the
       * matrix \f$ V \f$ in the eigendecomposition \f$ A = V D V^{-1} \f$.
       *
+      * For a selfadjoint matrix, \f$ V \f$ is unitary, meaning its inverse is equal
+      * to its adjoint, \f$ V^{-1} = V^{\dagger} \f$. If \f$ A \f$ is real, then
+      * \f$ V \f$ is also real and therefore orthogonal, meaning its inverse is
+      * equal to its transpose, \f$ V^{-1} = V^T \f$.
+      *
       * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
       *
@@ -337,7 +355,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
       */
     EIGEN_DEVICE_FUNC
     ComputationInfo info() const
@@ -354,7 +372,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     static const int m_maxIterations = 30;
 
   protected:
-    static void check_template_parameters()
+    static EIGEN_DEVICE_FUNC
+    void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
@@ -362,6 +381,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     EigenvectorsType m_eivec;
     RealVectorType m_eivalues;
     typename TridiagonalizationType::SubDiagonalType m_subdiag;
+    typename TridiagonalizationType::CoeffVectorType m_hcoeffs;
     ComputationInfo m_info;
     bool m_isInitialized;
     bool m_eigenvectorsOk;
@@ -403,7 +423,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
   
   const InputType &matrix(a_matrix.derived());
   
-  using std::abs;
+  EIGEN_USING_STD(abs);
   eigen_assert(matrix.cols() == matrix.rows());
   eigen_assert((options&~(EigVecMask|GenEigMask))==0
           && (options&EigVecMask)!=EigVecMask
@@ -434,7 +454,8 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
   if(scale==RealScalar(0)) scale = RealScalar(1);
   mat.template triangularView<Lower>() /= scale;
   m_subdiag.resize(n-1);
-  internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
+  m_hcoeffs.resize(n-1);
+  internal::tridiagonalization_inplace(mat, diag, m_subdiag, m_hcoeffs, computeEigenvectors);
 
   m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
   
@@ -479,10 +500,9 @@ namespace internal {
   * \returns \c Success or \c NoConvergence
   */
 template<typename MatrixType, typename DiagType, typename SubDiagType>
+EIGEN_DEVICE_FUNC
 ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
 {
-  using std::abs;
-
   ComputationInfo info;
   typedef typename MatrixType::Scalar Scalar;
 
@@ -493,15 +513,23 @@ ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag
   
   typedef typename DiagType::RealScalar RealScalar;
   const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
-  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
-  
+  const RealScalar precision_inv = RealScalar(1)/NumTraits<RealScalar>::epsilon();
   while (end>0)
   {
-    for (Index i = start; i<end; ++i)
-      if (internal::isMuchSmallerThan(abs(subdiag[i]),(abs(diag[i])+abs(diag[i+1])),precision) || abs(subdiag[i]) <= considerAsZero)
-        subdiag[i] = 0;
+    for (Index i = start; i<end; ++i) {
+      if (numext::abs(subdiag[i]) < considerAsZero) {
+        subdiag[i] = RealScalar(0);
+      } else {
+        // abs(subdiag[i]) <= epsilon * sqrt(abs(diag[i]) + abs(diag[i+1]))
+        // Scaled to prevent underflows.
+        const RealScalar scaled_subdiag = precision_inv * subdiag[i];
+        if (scaled_subdiag * scaled_subdiag <= (numext::abs(diag[i])+numext::abs(diag[i+1]))) {
+          subdiag[i] = RealScalar(0);
+        }
+      }
+    }
 
-    // find the largest unreduced block
+    // find the largest unreduced block at the end of the matrix.
     while (end>0 && subdiag[end-1]==RealScalar(0))
     {
       end--;
@@ -535,7 +563,7 @@ ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag
       diag.segment(i,n-i).minCoeff(&k);
       if (k > 0)
       {
-        std::swap(diag[i], diag[k+i]);
+        numext::swap(diag[i], diag[k+i]);
         if(computeEigenvectors)
           eivec.col(i).swap(eivec.col(k+i));
       }
@@ -566,10 +594,10 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
   EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
-    EIGEN_USING_STD_MATH(sqrt)
-    EIGEN_USING_STD_MATH(atan2)
-    EIGEN_USING_STD_MATH(cos)
-    EIGEN_USING_STD_MATH(sin)
+    EIGEN_USING_STD(sqrt)
+    EIGEN_USING_STD(atan2)
+    EIGEN_USING_STD(cos)
+    EIGEN_USING_STD(sin)
     const Scalar s_inv3 = Scalar(1)/Scalar(3);
     const Scalar s_sqrt3 = sqrt(Scalar(3));
 
@@ -605,8 +633,8 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
   EIGEN_DEVICE_FUNC
   static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
   {
-    EIGEN_USING_STD_MATH(sqrt)
-    EIGEN_USING_STD_MATH(abs)
+    EIGEN_USING_STD(abs);
+    EIGEN_USING_STD(sqrt);
     Index i0;
     // Find non-zero column i0 (by construction, there must exist a non zero coefficient on the diagonal):
     mat.diagonal().cwiseAbs().maxCoeff(&i0);
@@ -720,7 +748,7 @@ struct direct_selfadjoint_eigenvalues<SolverType,2,false>
   EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
-    using std::sqrt;
+    EIGEN_USING_STD(sqrt);
     const Scalar t0 = Scalar(0.5) * sqrt( numext::abs2(m(0,0)-m(1,1)) + Scalar(4)*numext::abs2(m(1,0)));
     const Scalar t1 = Scalar(0.5) * (m(0,0) + m(1,1));
     roots(0) = t1 - t0;
@@ -730,8 +758,8 @@ struct direct_selfadjoint_eigenvalues<SolverType,2,false>
   EIGEN_DEVICE_FUNC
   static inline void run(SolverType& solver, const MatrixType& mat, int options)
   {
-    EIGEN_USING_STD_MATH(sqrt);
-    EIGEN_USING_STD_MATH(abs);
+    EIGEN_USING_STD(sqrt);
+    EIGEN_USING_STD(abs);
     
     eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
     eigen_assert((options&~(EigVecMask|GenEigMask))==0
@@ -804,32 +832,38 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 }
 
 namespace internal {
+
+// Francis implicit QR step.
 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;
+  // Wilkinson Shift.
   RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
   RealScalar e = subdiag[end-1];
   // Note that thanks to scaling, e^2 or td^2 cannot overflow, however they can still
   // underflow thus leading to inf/NaN values when using the following commented code:
-//   RealScalar e2 = numext::abs2(subdiag[end-1]);
-//   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+  //   RealScalar e2 = numext::abs2(subdiag[end-1]);
+  //   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==RealScalar(0))
-    mu -= abs(e);
-  else
-  {
-    RealScalar e2 = numext::abs2(subdiag[end-1]);
-    RealScalar h = numext::hypot(td,e);
-    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));
+  if(td==RealScalar(0)) {
+    mu -= numext::abs(e);
+  } else if (e != RealScalar(0)) {
+    const RealScalar e2 = numext::abs2(e);
+    const RealScalar h = numext::hypot(td,e);
+    if(e2 == RealScalar(0)) {
+      mu -= e / ((td + (td>RealScalar(0) ? h : -h)) / e);
+    } else {
+      mu -= e2 / (td + (td>RealScalar(0) ? h : -h)); 
+    }
   }
-  
+
   RealScalar x = diag[start] - mu;
   RealScalar z = subdiag[start];
-  for (Index k = start; k < end; ++k)
+  // If z ever becomes zero, the Givens rotation will be the identity and
+  // z will stay zero for all future iterations.
+  for (Index k = start; k < end && z != RealScalar(0); ++k)
   {
     JacobiRotation<RealScalar> rot;
     rot.makeGivens(x, z);
@@ -842,12 +876,11 @@ static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index sta
     diag[k+1] = rot.s() * sdk + rot.c() * dkp1;
     subdiag[k] = rot.c() * sdk - rot.s() * dkp1;
     
-
     if (k > start)
       subdiag[k - 1] = rot.c() * subdiag[k-1] - rot.s() * z;
 
+    // "Chasing the bulge" to return to triangular form.
     x = subdiag[k];
-
     if (k < end - 1)
     {
       z = -rot.s() * subdiag[k+1];

package/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h

@@ -11,10 +11,10 @@
 #ifndef EIGEN_TRIDIAGONALIZATION_H
 #define EIGEN_TRIDIAGONALIZATION_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
-  
+
 template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
 template<typename MatrixType>
 struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
@@ -25,6 +25,7 @@ struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
 };
 
 template<typename MatrixType, typename CoeffVectorType>
+EIGEN_DEVICE_FUNC
 void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs);
 }
 
@@ -344,6 +345,7 @@ namespace internal {
   * \sa Tridiagonalization::packedMatrix()
   */
 template<typename MatrixType, typename CoeffVectorType>
+EIGEN_DEVICE_FUNC
 void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
 {
   using numext::conj;
@@ -352,7 +354,7 @@ void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
   Index n = matA.rows();
   eigen_assert(n==matA.cols());
   eigen_assert(n==hCoeffs.size()+1 || n==1);
-  
+
   for (Index i = 0; i<n-1; ++i)
   {
     Index remainingSize = n-i-1;
@@ -423,11 +425,13 @@ struct tridiagonalization_inplace_selector;
   *
   * \sa class Tridiagonalization
   */
-template<typename MatrixType, typename DiagonalType, typename SubDiagonalType>
-void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+template<typename MatrixType, typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+EIGEN_DEVICE_FUNC
+void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag,
+                                CoeffVectorType& hcoeffs, bool extractQ)
 {
   eigen_assert(mat.cols()==mat.rows() && diag.size()==mat.rows() && subdiag.size()==mat.rows()-1);
-  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, extractQ);
+  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, hcoeffs, extractQ);
 }
 
 /** \internal
@@ -439,10 +443,10 @@ struct tridiagonalization_inplace_selector
   typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
   typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
   template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  static EIGEN_DEVICE_FUNC
+      void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, CoeffVectorType& hCoeffs, bool extractQ)
   {
-    CoeffVectorType hCoeffs(mat.cols()-1);
-    tridiagonalization_inplace(mat,hCoeffs);
+    tridiagonalization_inplace(mat, hCoeffs);
     diag = mat.diagonal().real();
     subdiag = mat.template diagonal<-1>().real();
     if(extractQ)
@@ -462,8 +466,8 @@ struct tridiagonalization_inplace_selector<MatrixType,3,false>
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
 
-  template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  template<typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, CoeffVectorType&, bool extractQ)
   {
     using std::sqrt;
     const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
@@ -507,8 +511,9 @@ struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
 {
   typedef typename MatrixType::Scalar Scalar;
 
-  template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, bool extractQ)
+  template<typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+  static EIGEN_DEVICE_FUNC
+  void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, CoeffVectorType&, bool extractQ)
   {
     diag(0,0) = numext::real(mat(0,0));
     if(extractQ)
@@ -542,8 +547,8 @@ template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
       result.template diagonal<-1>() = m_matrix.template diagonal<-1>();
     }
 
-    Index rows() const { return m_matrix.rows(); }
-    Index cols() const { return m_matrix.cols(); }
+    EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
   protected:
     typename MatrixType::Nested m_matrix;

package/eigen/Eigen/src/Geometry/AlignedBox.h

@@ -7,10 +7,46 @@
 // 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/.
 
+// Function void Eigen::AlignedBox::transform(const Transform& transform)
+// is provided under the following license agreement:
+//
+// Software License Agreement (BSD License)
+//
+// Copyright (c) 2011-2014, Willow Garage, Inc.
+// Copyright (c) 2014-2015, Open Source Robotics Foundation
+// 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 Open Source Robotics Foundation 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 EIGEN_ALIGNEDBOX_H
 #define EIGEN_ALIGNEDBOX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -63,7 +99,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** Default constructor initializing a null box. */
   EIGEN_DEVICE_FUNC inline AlignedBox()
-  { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
+  { if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); }
 
   /** Constructs a null box with \a _dim the dimension of the ambient space. */
   EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
@@ -231,7 +267,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   {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. 
+   * \note Merging with an empty box may result in a box bigger than \c *this.
    * \sa extend(const AlignedBox&) */
   EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
   { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
@@ -246,6 +282,15 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     return *this;
   }
 
+  /** \returns a copy of \c *this translated by the vector \a t. */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const
+  {
+    AlignedBox result(m_min, m_max);
+    result.translate(a_t);
+    return result;
+  }
+
   /** \returns the squared distance between the point \a p and the box \c *this,
     * and zero if \a p is inside the box.
     * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
@@ -265,14 +310,63 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     */
   template<typename Derived>
   EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
-  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
+  { EIGEN_USING_STD(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&)
     */
   EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
-  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
+  { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
+
+  /**
+   * Specialization of transform for pure translation.
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC inline void transform(
+      const typename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation)
+  {
+    this->translate(translation);
+  }
+
+  /**
+   * Transforms this box by \a transform and recomputes it to
+   * still be an axis-aligned box.
+   *
+   * \note This method is provided under BSD license (see the top of this file).
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
+  {
+    // Only Affine and Isometry transforms are currently supported.
+    EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
+
+    // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...)
+    // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
+    //
+    // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
+
+    // two times rotated extent
+    const VectorType rotated_extent_2 = transform.linear().cwiseAbs() * sizes();
+    // two times new center
+    const VectorType rotated_center_2 = transform.linear() * (this->m_max + this->m_min) +
+        Scalar(2) * transform.translation();
+
+    this->m_max = (rotated_center_2 + rotated_extent_2) / Scalar(2);
+    this->m_min = (rotated_center_2 - rotated_extent_2) / Scalar(2);
+  }
+
+  /**
+   * \returns a copy of \c *this transformed by \a transform and recomputed to
+   * still be an axis-aligned box.
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC AlignedBox transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const
+  {
+    AlignedBox result(m_min, m_max);
+    result.transform(transform);
+    return result;
+  }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *

package/eigen/Eigen/src/Geometry/AngleAxis.h

@@ -169,8 +169,8 @@ template<typename Scalar>
 template<typename QuatDerived>
 EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
 {
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_USING_STD_MATH(abs)
+  EIGEN_USING_STD(atan2)
+  EIGEN_USING_STD(abs)
   Scalar n = q.vec().norm();
   if(n<NumTraits<Scalar>::epsilon())
     n = q.vec().stableNorm();
@@ -217,8 +217,8 @@ template<typename Scalar>
 typename AngleAxis<Scalar>::Matrix3
 EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const
 {
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD(sin)
+  EIGEN_USING_STD(cos)
   Matrix3 res;
   Vector3 sin_axis  = sin(m_angle) * m_axis;
   Scalar c = cos(m_angle);

package/eigen/Eigen/src/Geometry/EulerAngles.h

@@ -36,9 +36,9 @@ template<typename Derived>
 EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
 MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
 {
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD(atan2)
+  EIGEN_USING_STD(sin)
+  EIGEN_USING_STD(cos)
   /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)