@smake/eigen 1.0.2 → 1.1.1

package/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h

@@ -10,70 +10,69 @@
 #ifndef EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
 #define EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
 
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
+
 namespace Eigen {
 
 namespace internal {
-template <typename _MatrixType>
-struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
-    : traits<_MatrixType> {
+template <typename MatrixType_, typename PermutationIndex_>
+struct traits<CompleteOrthogonalDecomposition<MatrixType_, PermutationIndex_>> : traits<MatrixType_> {
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef PermutationIndex_ PermutationIndex;
   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 {
+ *
+ * \class CompleteOrthogonalDecomposition
+ *
+ * \brief Complete orthogonal decomposition (COD) of a matrix.
+ *
+ * \tparam 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_, typename PermutationIndex_>
+class CompleteOrthogonalDecomposition
+    : public SolverBase<CompleteOrthogonalDecomposition<MatrixType_, PermutationIndex_>> {
  public:
-  typedef _MatrixType MatrixType;
+  typedef MatrixType_ MatrixType;
+  typedef SolverBase<CompleteOrthogonalDecomposition> Base;
+
+  template <typename Derived>
+  friend struct internal::solve_assertion;
+  typedef PermutationIndex_ PermutationIndex;
+  EIGEN_GENERIC_PUBLIC_INTERFACE(CompleteOrthogonalDecomposition)
   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 PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime, PermutationIndex> 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>
+  typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
+  typedef HouseholderSequence<MatrixType, internal::remove_all_t<typename HCoeffsType::ConjugateReturnType>>
       HouseholderSequenceType;
   typedef typename MatrixType::PlainObject PlainObject;
 
- private:
-  typedef typename PermutationType::Index PermIndexType;
-
  public:
   /**
    * \brief Default Constructor.
@@ -113,27 +112,24 @@ class CompleteOrthogonalDecomposition {
   explicit CompleteOrthogonalDecomposition(const EigenBase<InputType>& matrix)
       : m_cpqr(matrix.rows(), matrix.cols()),
         m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
-        m_temp(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>
+   *
+   * 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())
-  {
+      : m_cpqr(matrix.derived()), m_zCoeffs((std::min)(matrix.rows(), matrix.cols())), m_temp(matrix.cols()) {
     computeInPlace();
   }
 
-
+#ifdef EIGEN_PARSED_BY_DOXYGEN
   /** 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.
@@ -144,12 +140,8 @@ class CompleteOrthogonalDecomposition {
    *
    */
   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());
-  }
+  inline const Solve<CompleteOrthogonalDecomposition, Rhs> solve(const MatrixBase<Rhs>& b) const;
+#endif
 
   HouseholderSequenceType householderQ(void) const;
   HouseholderSequenceType matrixQ(void) const { return m_cpqr.householderQ(); }
@@ -158,8 +150,8 @@ class CompleteOrthogonalDecomposition {
    */
   MatrixType matrixZ() const {
     MatrixType Z = MatrixType::Identity(m_cpqr.cols(), m_cpqr.cols());
-    applyZAdjointOnTheLeftInPlace(Z);
-    return Z.adjoint();
+    applyZOnTheLeftInPlace<false>(Z);
+    return Z;
   }
 
   /** \returns a reference to the matrix where the complete orthogonal
@@ -175,7 +167,7 @@ class CompleteOrthogonalDecomposition {
    * \code matrixT().template triangularView<Upper>() \endcode
    * For rank-deficient matrices, use
    * \code
-   * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
+   * matrixT().topLeftCorner(rank(), rank()).template triangularView<Upper>()
    * \endcode
    */
   const MatrixType& matrixT() const { return m_cpqr.matrixQR(); }
@@ -189,9 +181,22 @@ class CompleteOrthogonalDecomposition {
   }
 
   /** \returns a const reference to the column permutation matrix */
-  const PermutationType& colsPermutation() const {
-    return m_cpqr.colsPermutation();
-  }
+  const PermutationType& colsPermutation() const { return m_cpqr.colsPermutation(); }
+
+  /** \returns 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 absDeterminant(), logAbsDeterminant(), MatrixBase::determinant()
+   */
+  typename MatrixType::Scalar determinant() const;
 
   /** \returns the absolute value of the determinant of the matrix of which
    * *this is the complete orthogonal decomposition. It has only linear
@@ -204,7 +209,7 @@ class CompleteOrthogonalDecomposition {
    * 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()
+   * \sa determinant(), logAbsDeterminant(), MatrixBase::determinant()
    */
   typename MatrixType::RealScalar absDeterminant() const;
 
@@ -219,10 +224,25 @@ class CompleteOrthogonalDecomposition {
    * \note This method is useful to work around the risk of overflow/underflow
    * that's inherent to determinant computation.
    *
-   * \sa absDeterminant(), MatrixBase::determinant()
+   * \sa determinant(), absDeterminant(), MatrixBase::determinant()
    */
   typename MatrixType::RealScalar logAbsDeterminant() const;
 
+  /** \returns the sign 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 determinant(), absDeterminant(), logAbsDeterminant(), MatrixBase::determinant()
+   */
+  typename MatrixType::Scalar signDeterminant() const;
+
   /** \returns the rank of the matrix of which *this is the complete orthogonal
    * decomposition.
    *
@@ -273,8 +293,8 @@ class CompleteOrthogonalDecomposition {
    * \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
-  {
+  inline const Inverse<CompleteOrthogonalDecomposition> pseudoInverse() const {
+    eigen_assert(m_cpqr.m_isInitialized && "CompleteOrthogonalDecomposition is not initialized.");
     return Inverse<CompleteOrthogonalDecomposition>(*this);
   }
 
@@ -353,7 +373,7 @@ class CompleteOrthogonalDecomposition {
   inline RealScalar maxPivot() const { return m_cpqr.maxPivot(); }
 
   /** \brief Reports whether the complete orthogonal decomposition was
-   * succesful.
+   * successful.
    *
    * \note This function always returns \c Success. It is provided for
    * compatibility
@@ -367,38 +387,63 @@ class CompleteOrthogonalDecomposition {
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
   template <typename RhsType, typename DstType>
-  EIGEN_DEVICE_FUNC void _solve_impl(const RhsType& rhs, DstType& dst) const;
+  void _solve_impl(const RhsType& rhs, DstType& dst) const;
+
+  template <bool Conjugate, typename RhsType, typename DstType>
+  void _solve_impl_transposed(const RhsType& rhs, DstType& dst) const;
 #endif
 
  protected:
-  static void check_template_parameters() {
-    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+  EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+
+  template <bool Transpose_, typename Rhs>
+  void _check_solve_assertion(const Rhs& b) const {
+    EIGEN_ONLY_USED_FOR_DEBUG(b);
+    eigen_assert(m_cpqr.m_isInitialized && "CompleteOrthogonalDecomposition is not initialized.");
+    eigen_assert((Transpose_ ? derived().cols() : derived().rows()) == b.rows() &&
+                 "CompleteOrthogonalDecomposition::solve(): invalid number of rows of the right hand side matrix b");
   }
 
   void computeInPlace();
 
+  /** Overwrites \b rhs with \f$ \mathbf{Z} * \mathbf{rhs} \f$ or
+   *  \f$ \mathbf{\overline Z} * \mathbf{rhs} \f$ if \c Conjugate
+   *  is set to \c true.
+   */
+  template <bool Conjugate, typename Rhs>
+  void applyZOnTheLeftInPlace(Rhs& rhs) const;
+
   /** Overwrites \b rhs with \f$ \mathbf{Z}^* * \mathbf{rhs} \f$.
    */
   template <typename Rhs>
   void applyZAdjointOnTheLeftInPlace(Rhs& rhs) const;
 
-  ColPivHouseholderQR<MatrixType> m_cpqr;
+  ColPivHouseholderQR<MatrixType, PermutationIndex> m_cpqr;
   HCoeffsType m_zCoeffs;
   RowVectorType m_temp;
 };
 
-template <typename MatrixType>
-typename MatrixType::RealScalar
-CompleteOrthogonalDecomposition<MatrixType>::absDeterminant() const {
+template <typename MatrixType, typename PermutationIndex>
+typename MatrixType::Scalar CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::determinant() const {
+  return m_cpqr.determinant();
+}
+
+template <typename MatrixType, typename PermutationIndex>
+typename MatrixType::RealScalar CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::absDeterminant() const {
   return m_cpqr.absDeterminant();
 }
 
-template <typename MatrixType>
-typename MatrixType::RealScalar
-CompleteOrthogonalDecomposition<MatrixType>::logAbsDeterminant() const {
+template <typename MatrixType, typename PermutationIndex>
+typename MatrixType::RealScalar CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::logAbsDeterminant()
+    const {
   return m_cpqr.logAbsDeterminant();
 }
 
+template <typename MatrixType, typename PermutationIndex>
+typename MatrixType::Scalar CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::signDeterminant() const {
+  return m_cpqr.signDeterminant();
+}
+
 /** 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.
@@ -406,13 +451,9 @@ CompleteOrthogonalDecomposition<MatrixType>::logAbsDeterminant() const {
  * \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());
+template <typename MatrixType, typename PermutationIndex>
+void CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::computeInPlace() {
+  eigen_assert(m_cpqr.cols() <= NumTraits<PermutationIndex>::highest());
 
   const Index rank = m_cpqr.rank();
   const Index cols = m_cpqr.cols();
@@ -437,49 +478,60 @@ void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
         // 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));
+        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.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));
+            .applyHouseholderOnTheRight(m_cpqr.m_qr.row(k).tail(cols - rank).adjoint(), 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));
+        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 MatrixType, typename PermutationIndex>
+template <bool Conjugate, typename Rhs>
+void CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::applyZOnTheLeftInPlace(Rhs& rhs) const {
+  const Index cols = this->cols();
+  const Index nrhs = rhs.cols();
+  const Index rank = this->rank();
+  Matrix<typename Rhs::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
+  for (Index k = rank - 1; k >= 0; --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).transpose().template conjugateIf<!Conjugate>(),
+                                   zCoeffs().template conjugateIf<Conjugate>()(k), &temp(0));
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+  }
+}
+
+template <typename MatrixType, typename PermutationIndex>
 template <typename Rhs>
-void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
-    Rhs& rhs) const {
+void CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::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));
+  Matrix<typename Rhs::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));
+        .applyHouseholderOnTheLeft(matrixQTZ().row(k).tail(cols - rank).adjoint(), zCoeffs()(k), &temp(0));
     if (k != rank - 1) {
       rhs.row(k).swap(rhs.row(rank - 1));
     }
@@ -487,12 +539,10 @@ void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
 }
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-template <typename _MatrixType>
+template <typename MatrixType_, typename PermutationIndex_>
 template <typename RhsType, typename DstType>
-void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
-    const RhsType& rhs, DstType& dst) const {
-  eigen_assert(rhs.rows() == this->rows());
-
+void CompleteOrthogonalDecomposition<MatrixType_, PermutationIndex_>::_solve_impl(const RhsType& rhs,
+                                                                                  DstType& dst) const {
   const Index rank = this->rank();
   if (rank == 0) {
     dst.setZero();
@@ -500,17 +550,11 @@ void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
   }
 
   // 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());
+  c.applyOnTheLeft(matrixQ().setLength(rank).adjoint());
 
   // Solve T z = c(1:rank, :)
-  dst.topRows(rank) = matrixT()
-                          .topLeftCorner(rank, rank)
-                          .template triangularView<Upper>()
-                          .solve(c.topRows(rank));
+  dst.topRows(rank) = matrixT().topLeftCorner(rank, rank).template triangularView<Upper>().solve(c.topRows(rank));
 
   const Index cols = this->cols();
   if (rank < cols) {
@@ -523,36 +567,78 @@ void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
   // Undo permutation to get x = P^{-1} * y.
   dst = colsPermutation() * dst;
 }
+
+template <typename MatrixType_, typename PermutationIndex_>
+template <bool Conjugate, typename RhsType, typename DstType>
+void CompleteOrthogonalDecomposition<MatrixType_, PermutationIndex_>::_solve_impl_transposed(const RhsType& rhs,
+                                                                                             DstType& dst) const {
+  const Index rank = this->rank();
+
+  if (rank == 0) {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(colsPermutation().transpose() * rhs);
+
+  if (rank < cols()) {
+    applyZOnTheLeftInPlace<!Conjugate>(c);
+  }
+
+  matrixT()
+      .topLeftCorner(rank, rank)
+      .template triangularView<Upper>()
+      .transpose()
+      .template conjugateIf<Conjugate>()
+      .solveInPlace(c.topRows(rank));
+
+  dst.topRows(rank) = c.topRows(rank);
+  dst.bottomRows(rows() - rank).setZero();
+
+  dst.applyOnTheLeft(householderQ().setLength(rank).template conjugateIf<!Conjugate>());
+}
 #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;
+template <typename MatrixType, typename PermutationIndex>
+struct traits<Inverse<CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>>>
+    : traits<typename Transpose<typename MatrixType::PlainObject>::PlainObject> {
+  enum { Flags = 0 };
+};
+
+template <typename DstXprType, typename MatrixType, typename PermutationIndex>
+struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>>,
+                  internal::assign_op<typename DstXprType::Scalar,
+                                      typename CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::Scalar>,
+                  Dense2Dense> {
+  typedef CompleteOrthogonalDecomposition<MatrixType, PermutationIndex> 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()));
+  static void run(DstXprType& dst, const SrcXprType& src,
+                  const internal::assign_op<typename DstXprType::Scalar, typename CodType::Scalar>&) {
+    typedef Matrix<typename CodType::Scalar, CodType::RowsAtCompileTime, CodType::RowsAtCompileTime, 0,
+                   CodType::MaxRowsAtCompileTime, CodType::MaxRowsAtCompileTime>
+        IdentityMatrixType;
+    dst = src.nestedExpression().solve(IdentityMatrixType::Identity(src.cols(), src.cols()));
   }
 };
 
-} // end namespace internal
+}  // end namespace internal
 
 /** \returns the matrix Q as a sequence of householder transformations */
-template <typename MatrixType>
-typename CompleteOrthogonalDecomposition<MatrixType>::HouseholderSequenceType
-CompleteOrthogonalDecomposition<MatrixType>::householderQ() const {
+template <typename MatrixType, typename PermutationIndex>
+typename CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::HouseholderSequenceType
+CompleteOrthogonalDecomposition<MatrixType, PermutationIndex>::householderQ() const {
   return m_cpqr.householderQ();
 }
 
 /** \return the complete orthogonal decomposition of \c *this.
-  *
-  * \sa class CompleteOrthogonalDecomposition
-  */
+ *
+ * \sa class CompleteOrthogonalDecomposition
+ */
 template <typename Derived>
-const CompleteOrthogonalDecomposition<typename MatrixBase<Derived>::PlainObject>
+template <typename PermutationIndex>
+const CompleteOrthogonalDecomposition<typename MatrixBase<Derived>::PlainObject, PermutationIndex>
 MatrixBase<Derived>::completeOrthogonalDecomposition() const {
   return CompleteOrthogonalDecomposition<PlainObject>(eval());
 }