@smake/eigen 1.0.2 → 1.1.1

package/eigen/Eigen/src/SVD/BDCSVD.h

@@ -1,9 +1,9 @@
 // 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 
+// The code variable names correspond to the names they used in their
 // report
 //
 // Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
@@ -22,25 +22,36 @@
 // #define EIGEN_BDCSVD_DEBUG_VERBOSE
 // #define EIGEN_BDCSVD_SANITY_CHECKS
 
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+#undef eigen_internal_assert
+#define eigen_internal_assert(X) assert(X);
+#endif
+
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+#include <iostream>
+#endif
+
 namespace Eigen {
 
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
 IOFormat bdcsvdfmt(8, 0, ", ", "\n", "  [", "]");
 #endif
-  
-template<typename _MatrixType> class BDCSVD;
+
+template <typename MatrixType_, int Options>
+class BDCSVD;
 
 namespace internal {
 
-template<typename _MatrixType> 
-struct traits<BDCSVD<_MatrixType> >
-{
-  typedef _MatrixType MatrixType;
-};  
+template <typename MatrixType_, int Options>
+struct traits<BDCSVD<MatrixType_, Options> > : svd_traits<MatrixType_, Options> {
+  typedef MatrixType_ MatrixType;
+};
+
+}  // end namespace internal
 
-} // end namespace internal
-  
-  
 /** \ingroup SVD_Module
  *
  *
@@ -48,7 +59,14 @@ struct traits<BDCSVD<_MatrixType> >
  *
  * \brief class Bidiagonal Divide and Conquer SVD
  *
- * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+ * \tparam MatrixType_ the type of the matrix of which we are computing the SVD decomposition
+ *
+ * \tparam Options_ this optional parameter allows one to specify options for computing unitaries \a U and \a V.
+ *                  Possible values are #ComputeThinU, #ComputeThinV, #ComputeFullU, #ComputeFullV, and
+ *                  #DisableQRDecomposition. It is not possible to request both the thin and full version of \a U or
+ *                  \a V. By default, unitaries are not computed. BDCSVD uses R-Bidiagonalization to improve
+ *                  performance on tall and wide matrices. For backwards compatility, the option
+ *                  #DisableQRDecomposition can be used to disable this optimization.
  *
  * 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.
@@ -57,46 +75,50 @@ struct traits<BDCSVD<_MatrixType> >
  * 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
+ * For instance, this concerns Intel's compiler (ICC), which performs 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> >
-{
+template <typename MatrixType_, int Options_>
+class BDCSVD : public SVDBase<BDCSVD<MatrixType_, Options_> > {
   typedef SVDBase<BDCSVD> Base;
-    
-public:
-  using Base::rows;
+
+ public:
   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;
+  using Base::diagSize;
+  using Base::rows;
+
+  typedef MatrixType_ MatrixType;
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::RealScalar RealScalar;
   typedef typename NumTraits<RealScalar>::Literal Literal;
+  typedef typename Base::Index Index;
   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
+    Options = Options_,
+    QRDecomposition = Options & internal::QRPreconditionerBits,
+    ComputationOptions = Options & internal::ComputationOptionsBits,
+    RowsAtCompileTime = Base::RowsAtCompileTime,
+    ColsAtCompileTime = Base::ColsAtCompileTime,
+    DiagSizeAtCompileTime = Base::DiagSizeAtCompileTime,
+    MaxRowsAtCompileTime = Base::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = Base::MaxColsAtCompileTime,
+    MaxDiagSizeAtCompileTime = Base::MaxDiagSizeAtCompileTime,
+    MatrixOptions = Base::MatrixOptions
   };
 
   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 Array<Index, 1, Dynamic> ArrayXi;
   typedef Ref<ArrayXr> ArrayRef;
   typedef Ref<ArrayXi> IndicesRef;
 
@@ -105,459 +127,554 @@ public:
    * 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)
-  {}
+  BDCSVD() : m_algoswap(16), m_isTranspose(false), m_compU(false), m_compV(false), 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 and \a Options template parameter.
+   * \sa BDCSVD()
+   */
+  BDCSVD(Index rows, Index cols) : m_algoswap(16), m_numIters(0) {
+    allocate(rows, cols, internal::get_computation_options(Options));
+  }
 
   /** \brief Default Constructor with memory preallocation
    *
    * Like the default constructor but with preallocation of the internal data
-   * according to the specified problem size.
+   * according to the specified problem size and the \a computationOptions.
+   *
+   * One \b cannot request unitaries using both the \a Options template parameter
+   * and the constructor. If possible, prefer using the \a Options template parameter.
+   *
+   * \param rows number of rows for the input matrix
+   * \param cols number of columns for the input matrix
+   * \param computationOptions specification for computing Thin/Full unitaries U/V
    * \sa BDCSVD()
+   *
+   * \deprecated Will be removed in the next major Eigen version. Options should
+   * be specified in the \a Options template parameter.
    */
-  BDCSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-    : m_algoswap(16), m_numIters(0)
-  {
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  BDCSVD(Index rows, Index cols, unsigned int computationOptions) : m_algoswap(16), m_numIters(0) {
+    internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, rows, cols);
     allocate(rows, cols, computationOptions);
   }
 
-  /** \brief Constructor performing the decomposition of given matrix.
+  /** \brief Constructor performing the decomposition of given matrix, using the custom options specified
+   *         with the \a Options template parameter.
    *
    * \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);
+  template <typename Derived>
+  BDCSVD(const MatrixBase<Derived>& matrix) : m_algoswap(16), m_numIters(0) {
+    compute_impl(matrix, internal::get_computation_options(Options));
   }
 
-  ~BDCSVD() 
-  {
-  }
-  
-  /** \brief Method performing the decomposition of given matrix using custom options.
+  /** \brief Constructor performing the decomposition of given matrix using specified options
+   *         for computing unitaries.
+   *
+   *  One \b cannot request unitaries using both the \a Options template parameter
+   *  and the constructor. If possible, prefer using the \a Options template parameter.
    *
    * \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.
+   * \param computationOptions specification for computing Thin/Full unitaries U/V
    *
-   * 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.
+   * \deprecated Will be removed in the next major Eigen version. Options should
+   * be specified in the \a Options template parameter.
    */
-  BDCSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+  template <typename Derived>
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  BDCSVD(const MatrixBase<Derived>& matrix, unsigned int computationOptions) : m_algoswap(16), m_numIters(0) {
+    internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, matrix.rows(), matrix.cols());
+    compute_impl(matrix, computationOptions);
+  }
 
-  /** \brief Method performing the decomposition of given matrix using current options.
+  ~BDCSVD() {}
+
+  /** \brief Method performing the decomposition of given matrix. Computes Thin/Full unitaries U/V if specified
+   *         using the \a Options template parameter or the class constructor.
    *
    * \param matrix the matrix to decompose
+   */
+  template <typename Derived>
+  BDCSVD& compute(const MatrixBase<Derived>& matrix) {
+    return compute_impl(matrix, m_computationOptions);
+  }
+
+  /** \brief Method performing the decomposition of given matrix, as specified by
+   *         the `computationOptions` parameter.
    *
-   * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+   * \param matrix the matrix to decompose
+   * \param computationOptions specify whether to compute Thin/Full unitaries U/V
+   *
+   * \deprecated Will be removed in the next major Eigen version. Options should
+   * be specified in the \a Options template parameter.
    */
-  BDCSVD& compute(const MatrixType& matrix)
-  {
-    return compute(matrix, this->m_computationOptions);
+  template <typename Derived>
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  BDCSVD& compute(const MatrixBase<Derived>& matrix, unsigned int computationOptions) {
+    internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, matrix.rows(), matrix.cols());
+    return compute_impl(matrix, computationOptions);
   }
 
-  void setSwitchSize(int s) 
-  {
-    eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 3");
+  void setSwitchSize(int s) {
+    eigen_assert(s >= 3 && "BDCSVD the size of the algo switch has to be at least 3.");
     m_algoswap = s;
   }
- 
-private:
-  void allocate(Index rows, Index cols, unsigned int computationOptions);
+
+ private:
+  template <typename Derived>
+  BDCSVD& compute_impl(const MatrixBase<Derived>& matrix, 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 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 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:
+  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);
+  template <typename SVDType>
+  void computeBaseCase(SVDType& svd, Index n, Index firstCol, Index firstRowW, Index firstColW, Index shift);
+
+ protected:
+  void allocate(Index rows, Index cols, unsigned int computationOptions);
   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;
+  bool m_isTranspose, m_compU, m_compV, m_useQrDecomp;
+  JacobiSVD<MatrixType, ComputationOptions> smallSvd;
+  HouseholderQR<MatrixX> qrDecomp;
+  internal::UpperBidiagonalization<MatrixX> bid;
+  MatrixX copyWorkspace;
+  MatrixX reducedTriangle;
+
+  using Base::m_computationOptions;
   using Base::m_computeThinU;
   using Base::m_computeThinV;
+  using Base::m_info;
+  using Base::m_isInitialized;
   using Base::m_matrixU;
   using Base::m_matrixV;
-  using Base::m_isInitialized;
   using Base::m_nonzeroSingularValues;
+  using Base::m_singularValues;
 
-public:  
+ public:
   int m_numIters;
-}; //end class BDCSVD
-
+};  // 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);
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::allocate(Index rows, Index cols, unsigned int computationOptions) {
+  if (Base::allocate(rows, cols, computationOptions)) return;
 
-  if (Base::allocate(rows, cols, computationOptions))
-    return;
-  
-  m_computed = MatrixXr::Zero(m_diagSize + 1, m_diagSize );
+  if (cols < m_algoswap)
+    smallSvd.allocate(rows, cols, Options == 0 ? computationOptions : internal::get_computation_options(Options));
+
+  m_computed = MatrixXr::Zero(diagSize() + 1, 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) 
-{
+  m_isTranspose = (cols > rows);
+  if (m_isTranspose) std::swap(m_compU, m_compV);
+
+  // kMinAspectRatio is the crossover point that determines if we perform R-Bidiagonalization
+  // or bidiagonalize the input matrix directly.
+  // It is based off of LAPACK's dgesdd routine, which uses 11.0/6.0
+  // we use a larger scalar to prevent a regression for relatively square matrices.
+  constexpr Index kMinAspectRatio = 4;
+  constexpr bool disableQrDecomp = static_cast<int>(QRDecomposition) == static_cast<int>(DisableQRDecomposition);
+  m_useQrDecomp = !disableQrDecomp && ((rows / kMinAspectRatio > cols) || (cols / kMinAspectRatio > rows));
+  if (m_useQrDecomp) {
+    qrDecomp = HouseholderQR<MatrixX>((std::max)(rows, cols), (std::min)(rows, cols));
+    reducedTriangle = MatrixX(diagSize(), diagSize());
+  }
+
+  copyWorkspace = MatrixX(m_isTranspose ? cols : rows, m_isTranspose ? rows : cols);
+  bid = internal::UpperBidiagonalization<MatrixX>(m_useQrDecomp ? diagSize() : copyWorkspace.rows(),
+                                                  m_useQrDecomp ? diagSize() : copyWorkspace.cols());
+
+  if (m_compU)
+    m_naiveU = MatrixXr::Zero(diagSize() + 1, diagSize() + 1);
+  else
+    m_naiveU = MatrixXr::Zero(2, diagSize() + 1);
+
+  if (m_compV) m_naiveV = MatrixXr::Zero(diagSize(), diagSize());
+
+  m_workspace.resize((diagSize() + 1) * (diagSize() + 1) * 3);
+  m_workspaceI.resize(3 * diagSize());
+}  // end allocate
+
+template <typename MatrixType, int Options>
+template <typename Derived>
+BDCSVD<MatrixType, Options>& BDCSVD<MatrixType, Options>::compute_impl(const MatrixBase<Derived>& matrix,
+                                                                       unsigned int computationOptions) {
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived, MatrixType);
+  EIGEN_STATIC_ASSERT((std::is_same<typename Derived::Scalar, typename MatrixType::Scalar>::value),
+                      Input matrix must have the same Scalar type as the BDCSVD object.);
+
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-  std::cout << "\n\n\n======================================================================================================================\n\n\n";
+  std::cout << "\n\n\n================================================================================================="
+               "=====================\n\n\n";
 #endif
-  allocate(matrix.rows(), matrix.cols(), computationOptions);
   using std::abs;
 
+  allocate(matrix.rows(), matrix.cols(), computationOptions);
+
   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();
+  if (matrix.cols() < m_algoswap) {
+    smallSvd.compute(matrix);
     m_isInitialized = true;
+    m_info = smallSvd.info();
+    if (m_info == Success || m_info == NoConvergence) {
+      if (computeU()) m_matrixU = smallSvd.matrixU();
+      if (computeV()) m_matrixV = smallSvd.matrixV();
+      m_singularValues = smallSvd.singularValues();
+      m_nonzeroSingularValues = smallSvd.nonzeroSingularValues();
+    }
     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);
+  RealScalar scale = matrix.cwiseAbs().template maxCoeff<PropagateNaN>();
+  if (!(numext::isfinite)(scale)) {
+    m_isInitialized = true;
+    m_info = InvalidInput;
+    return *this;
+  }
+
+  if (numext::is_exactly_zero(scale)) scale = Literal(1);
+
+  if (m_isTranspose)
+    copyWorkspace = matrix.adjoint() / scale;
+  else
+    copyWorkspace = matrix / scale;
+
+  //**** step 1 - Bidiagonalization.
+  // If the problem is sufficiently rectangular, we perform R-Bidiagonalization: compute A = Q(R/0)
+  // and then bidiagonalize R. Otherwise, if the problem is relatively square, we
+  // bidiagonalize the input matrix directly.
+  if (m_useQrDecomp) {
+    qrDecomp.compute(copyWorkspace);
+    reducedTriangle = qrDecomp.matrixQR().topRows(diagSize());
+    reducedTriangle.template triangularView<StrictlyLower>().setZero();
+    bid.compute(reducedTriangle);
+  } else {
+    bid.compute(copyWorkspace);
+  }
 
   //**** 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.topRows(diagSize()) = bid.bidiagonal().toDenseMatrix().transpose();
   m_computed.template bottomRows<1>().setZero();
-  divide(0, m_diagSize - 1, 0, 0, 0);
+  divide(0, diagSize() - 1, 0, 0, 0);
+  if (m_info != Success && m_info != NoConvergence) {
+    m_isInitialized = true;
+    return *this;
+  }
 
   //**** step 3 - Copy singular values and vectors
-  for (int i=0; i<m_diagSize; i++)
-  {
+  for (int i = 0; i < diagSize(); i++) {
     RealScalar a = abs(m_computed.coeff(i, i));
     m_singularValues.coeffRef(i) = a * scale;
-    if (a<considerZero)
-    {
+    if (a < considerZero) {
       m_nonzeroSingularValues = i;
-      m_singularValues.tail(m_diagSize - i - 1).setZero();
+      m_singularValues.tail(diagSize() - i - 1).setZero();
       break;
-    }
-    else if (i == m_diagSize - 1)
-    {
+    } else if (i == 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);
+  //**** step 4 - Finalize unitaries U and V
+  if (m_isTranspose)
+    copyUV(bid.householderV(), bid.householderU(), m_naiveV, m_naiveU);
+  else
+    copyUV(bid.householderU(), bid.householderV(), m_naiveU, m_naiveV);
+
+  if (m_useQrDecomp) {
+    if (m_isTranspose && computeV())
+      m_matrixV.applyOnTheLeft(qrDecomp.householderQ());
+    else if (!m_isTranspose && computeU())
+      m_matrixU.applyOnTheLeft(qrDecomp.householderQ());
+  }
 
   m_isInitialized = true;
   return *this;
-}// end compute
-
+}  // 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)
-{
+template <typename MatrixType, int Options>
+template <typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+void BDCSVD<MatrixType, Options>::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 (computeU()) {
+    Index Ucols = m_computeThinU ? diagSize() : rows();
+    m_matrixU = MatrixX::Identity(rows(), Ucols);
+    m_matrixU.topLeftCorner(diagSize(), diagSize()) =
+        naiveV.template cast<Scalar>().topLeftCorner(diagSize(), diagSize());
+    // FIXME the following conditionals involve temporary buffers
+    if (m_useQrDecomp)
+      m_matrixU.topLeftCorner(householderU.cols(), diagSize()).applyOnTheLeft(householderU);
+    else
+      m_matrixU.applyOnTheLeft(householderU);
   }
-  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
+  if (computeV()) {
+    Index Vcols = m_computeThinV ? diagSize() : cols();
+    m_matrixV = MatrixX::Identity(cols(), Vcols);
+    m_matrixV.topLeftCorner(diagSize(), diagSize()) =
+        naiveU.template cast<Scalar>().topLeftCorner(diagSize(), diagSize());
+    // FIXME the following conditionals involve temporary buffers
+    if (m_useQrDecomp)
+      m_matrixV.topLeftCorner(householderV.cols(), diagSize()).applyOnTheLeft(householderV);
+    else
+      m_matrixV.applyOnTheLeft(householderV);
   }
 }
 
 /** \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)
-{
+ * 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, int Options>
+void BDCSVD<MatrixType, Options>::structured_update(Block<MatrixXr, Dynamic, Dynamic> A, const MatrixXr& B, Index n1) {
   Index n = A.rows();
-  if(n>100)
-  {
+  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() )
-      {
+    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() )
-      {
+      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.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;
+  } 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.
+template <typename MatrixType, int Options>
+template <typename SVDType>
+void BDCSVD<MatrixType, Options>::computeBaseCase(SVDType& svd, Index n, Index firstCol, Index firstRowW,
+                                                  Index firstColW, Index shift) {
+  svd.compute(m_computed.block(firstCol, firstCol, n + 1, n));
+  m_info = svd.info();
+  if (m_info != Success && m_info != NoConvergence) return;
+  if (m_compU)
+    m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() = svd.matrixU();
+  else {
+    m_naiveU.row(0).segment(firstCol, n + 1).real() = svd.matrixU().row(0);
+    m_naiveU.row(1).segment(firstCol, n + 1).real() = svd.matrixU().row(n);
+  }
+  if (m_compV) m_naiveV.block(firstRowW, firstColW, n, n).real() = svd.matrixV();
+  m_computed.block(firstCol + shift, firstCol + shift, n + 1, n).setZero();
+  m_computed.diagonal().segment(firstCol + shift, n) = svd.singularValues().head(n);
+}
+
+// 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; 
+//@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)
-{
+//@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 firstColW : 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, int Options>
+void BDCSVD<MatrixType, Options>::divide(Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift) {
   // requires rows = cols + 1;
+  using std::abs;
   using std::pow;
   using std::sqrt;
-  using std::abs;
   const Index n = lastCol - firstCol + 1;
-  const Index k = n/2;
+  const Index k = n / 2;
   const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
   RealScalar alphaK;
-  RealScalar betaK; 
-  RealScalar r0; 
+  RealScalar betaK;
+  RealScalar r0;
   RealScalar lambda, phi, c0, s0;
   VectorType l, f;
-  // We use the other algorithm which is more efficient for small 
+  // 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 (n < m_algoswap) {
+    // FIXME this block involves temporaries
+    if (m_compV) {
+      JacobiSVD<MatrixXr, ComputeFullU | ComputeFullV> baseSvd;
+      computeBaseCase(baseSvd, n, firstCol, firstRowW, firstColW, shift);
+    } else {
+      JacobiSVD<MatrixXr, ComputeFullU> baseSvd;
+      computeBaseCase(baseSvd, n, firstCol, firstRowW, firstColW, shift);
     }
-    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);
+  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. 
+  // 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);
+  if (m_info != Success && m_info != NoConvergence) return;
   divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
+  if (m_info != Success && m_info != NoConvergence) return;
 
-  if (m_compU)
-  {
+  if (m_compU) {
     lambda = m_naiveU(firstCol + k, firstCol + k);
     phi = m_naiveU(firstCol + k + 1, lastCol + 1);
-  } 
-  else 
-  {
+  } 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)
-  {
+  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 
-  {
+  } 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)
-  {
+  if (m_compV) m_naiveV(firstRowW + k, firstColW) = Literal(1);
+  if (r0 < considerZero) {
     c0 = Literal(1);
     s0 = Literal(0);
-  }
-  else
-  {
+  } 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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_assert(m_computed.allFinite());
 #endif
-  
-  if (m_compU)
-  {
-    MatrixXr q1 (m_naiveU.col(firstCol + k).segment(firstCol, k + 1));     
+
+  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--) 
+    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);
+    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));
+    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; 
+    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 
-  {
+  } 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);
+    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));
+    m_naiveU(0, lastCol + 1) = (q1 * (-s0));
     // first column = q2 * s0
-    m_naiveU(1, firstCol) = m_naiveU(1, lastCol + 1) *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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_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();
+  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();
+  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";
+  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());
+  eigen_internal_assert((tmp1 - tmp2).matrix().norm() < 1e-14 * tmp2.matrix().norm());
+//   eigen_internal_assert(count<681);
+//   eigen_internal_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());
+  eigen_internal_assert(UofSVD.allFinite());
+  eigen_internal_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;
+    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);
-  
+
+  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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_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
+}  // 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
@@ -566,658 +683,722 @@ void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW,
 //
 // 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)
-{
+// 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, int Options>
+void BDCSVD<MatrixType, Options>::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();
+  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);
+  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";
+  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);
+  while (actual_n > 1 && numext::is_exactly_zero(diag(actual_n - 1))) {
+    --actual_n;
+    eigen_internal_assert(numext::is_exactly_zero(col0(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 << "  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";
+    std::cout << "    check1 (expect0) : "
+              << ((singVals.array() - (shifts + mus)) / singVals.array()).head(actual_n).transpose() << "\n\n";
+    eigen_internal_assert((((singVals.array() - (shifts + mus)) / singVals.array()).head(actual_n) >= 0).all());
+    std::cout << "    check2 (>0)      : " << ((singVals.array() - diag) / singVals.array()).head(actual_n).transpose()
+              << "\n\n";
+    eigen_internal_assert((((singVals.array() - diag) / singVals.array()).head(actual_n) >= 0).all());
   }
 #endif
-  
+
 #ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(singVals.allFinite());
-  assert(mus.allFinite());
-  assert(shifts.allFinite());
+  eigen_internal_assert(singVals.allFinite());
+  eigen_internal_assert(mus.allFinite());
+  eigen_internal_assert(shifts.allFinite());
 #endif
-  
+
   // Compute zhat
   perturbCol0(col0, diag, perm, singVals, shifts, mus, zhat);
-#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
   std::cout << "  zhat: " << zhat.transpose() << "\n";
 #endif
-  
+
 #ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(zhat.allFinite());
+  eigen_internal_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";
+
+#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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_assert(m_computed.allFinite());
+  eigen_internal_assert(U.allFinite());
+  eigen_internal_assert(V.allFinite());
+//   eigen_internal_assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() <
+//   100*NumTraits<RealScalar>::epsilon() * n); eigen_internal_assert((V.transpose() * V -
+//   MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 100*NumTraits<RealScalar>::epsilon() * n);
 #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))
-    {
+  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));
+      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));
     }
   }
-  
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  {
+    bool singular_values_sorted =
+        (((singVals.segment(1, actual_n - 1) - singVals.head(actual_n - 1))).array() >= 0).all();
+    if (!singular_values_sorted)
+      std::cout << "Singular values are not sorted: " << singVals.segment(1, actual_n).transpose() << "\n";
+    eigen_internal_assert(singular_values_sorted);
+  }
+#endif
+
   // 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) );
+  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)
-{
+template <typename MatrixType, int Options>
+typename BDCSVD<MatrixType, Options>::RealScalar BDCSVD<MatrixType, Options>::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)
-  {
+  for (Index i = 0; i < m; ++i) {
     Index j = perm(i);
     // The following expression could be rewritten to involve only a single division,
     // but this would make the expression more sensitive to overflow.
     res += (col0(j) / (diagShifted(j) - mu)) * (col0(j) / (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)
-{
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm,
+                                                  VectorType& singVals, ArrayRef shifts, ArrayRef mus) {
   using std::abs;
-  using std::swap;
   using std::sqrt;
+  using std::swap;
 
   Index n = col0.size();
   Index actual_n = n;
   // Note that here actual_n is computed based on col0(i)==0 instead of diag(i)==0 as above
   // because 1) we have diag(i)==0 => col0(i)==0 and 2) if col0(i)==0, then diag(i) is already a singular value.
-  while(actual_n>1 && col0(actual_n-1)==Literal(0)) --actual_n;
+  while (actual_n > 1 && numext::is_exactly_zero(col0(actual_n - 1))) --actual_n;
 
-  for (Index k = 0; k < n; ++k)
-  {
-    if (col0(k) == Literal(0) || actual_n==1)
-    {
+  for (Index k = 0; k < n; ++k) {
+    if (numext::is_exactly_zero(col0(k)) || 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);
+      singVals(k) = k == 0 ? col0(0) : diag(k);
       mus(k) = Literal(0);
-      shifts(k) = k==0 ? col0(0) : diag(k);
+      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
-    {
+    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,
       // recall that at this stage we assume that z[j]!=0 and all entries for which z[j]==0 have been put aside.
       // This should be equivalent to using perm[]
-      Index l = k+1;
-      while(col0(l)==Literal(0)) { ++l; eigen_internal_assert(l<actual_n); }
+      Index l = k + 1;
+      while (numext::is_exactly_zero(col0(l))) {
+        ++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 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";
+    std::cout << "right-left = " << right - left << "\n";
+    //     std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, ArrayXr(diag-left), left)
+    //                            << " " << secularEq(mid-right, col0, diag, perm, ArrayXr(diag-right), right)   <<
+    //                            "\n";
+    std::cout << "     = " << secularEq(left + RealScalar(0.000001) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.1) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.2) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.3) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.4) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.49) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.5) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.51) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.6) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.7) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.8) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.9) * (right - left), col0, diag, perm, diag, 0) << " "
+              << secularEq(left + RealScalar(0.999999) * (right - left), col0, diag, perm, diag, 0) << "\n";
 #endif
-    RealScalar shift = (k == actual_n-1 || fMid > Literal(0)) ? left : right;
-    
+    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);
+    Map<ArrayXr> diagShifted(m_workspace.data() + 4 * n, n);
     diagShifted = diag - shift;
 
-    if(k!=actual_n-1)
-    {
+    if (k != actual_n - 1) {
       // check that after the shift, f(mid) is still negative:
       RealScalar midShifted = (right - left) / RealScalar(2);
-      if(shift==right)
-        midShifted = -midShifted;
+      // we can test exact equality here, because shift comes from `... ? left : right`
+      if (numext::equal_strict(shift, right)) midShifted = -midShifted;
       RealScalar fMidShifted = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
-      if(fMidShifted>0)
-      {
+      if (fMidShifted > 0) {
         // fMid was erroneous, fix it:
-        shift =  fMidShifted > Literal(0) ? left : right;
+        shift = fMidShifted > Literal(0) ? left : right;
         diagShifted = diag - shift;
       }
     }
-    
+
     // initial guess
     RealScalar muPrev, muCur;
-    if (shift == left)
-    {
+    // we can test exact equality here, because shift comes from `... ? left : right`
+    if (numext::equal_strict(shift, left)) {
       muPrev = (right - left) * RealScalar(0.1);
-      if (k == actual_n-1) muCur = right - left;
-      else                 muCur = (right - left) * RealScalar(0.5);
-    }
-    else
-    {
+      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))
-    {
+    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)
-    {
+    bool useBisection = fPrev * fCur > Literal(0);
+    while (!numext::is_exactly_zero(fCur) &&
+           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 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 muZero = -a / b;
       RealScalar fZero = secularEq(muZero, col0, diag, perm, diagShifted, shift);
-      
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      eigen_internal_assert((numext::isfinite)(fZero));
+#endif
+
       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;
+
+      // we can test exact equality here, because shift comes from `... ? left : right`
+      if (numext::equal_strict(shift, left) && (muCur < Literal(0) || muCur > right - left)) useBisection = true;
+      if (numext::equal_strict(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
+    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)
-      {
+      // we can test exact equality here, because shift comes from `... ? left : right`
+      if (numext::equal_strict(shift, left)) {
         // to avoid overflow, we must have mu > max(real_min, |z(k)|/sqrt(real_max)),
         // the factor 2 is to be more conservative
-        leftShifted = numext::maxi<RealScalar>( (std::numeric_limits<RealScalar>::min)(), Literal(2) * abs(col0(k)) / sqrt((std::numeric_limits<RealScalar>::max)()) );
+        leftShifted =
+            numext::maxi<RealScalar>((std::numeric_limits<RealScalar>::min)(),
+                                     Literal(2) * abs(col0(k)) / sqrt((std::numeric_limits<RealScalar>::max)()));
 
         // check that we did it right:
-        eigen_internal_assert( (numext::isfinite)( (col0(k)/leftShifted)*(col0(k)/(diag(k)+shift+leftShifted)) ) );
+        eigen_internal_assert(
+            (numext::isfinite)((col0(k) / leftShifted) * (col0(k) / (diag(k) + shift + leftShifted))));
         // 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(0.51)); // theoretically we can take 0.5, but let's be safe
-      }
-      else
-      {
+        rightShifted = (k == actual_n - 1)
+                           ? right
+                           : ((right - left) * RealScalar(0.51));  // theoretically we can take 0.5, but let's be safe
+      } else {
         leftShifted = -(right - left) * RealScalar(0.51);
-        if(k+1<n)
-          rightShifted = -numext::maxi<RealScalar>( (std::numeric_limits<RealScalar>::min)(), abs(col0(k+1)) / sqrt((std::numeric_limits<RealScalar>::max)()) );
+        if (k + 1 < n)
+          rightShifted = -numext::maxi<RealScalar>((std::numeric_limits<RealScalar>::min)(),
+                                                   abs(col0(k + 1)) / sqrt((std::numeric_limits<RealScalar>::max)()));
         else
           rightShifted = -(std::numeric_limits<RealScalar>::min)();
       }
-      
+
       RealScalar fLeft = secularEq(leftShifted, col0, diag, perm, diagShifted, shift);
-      eigen_internal_assert(fLeft<Literal(0));
+      eigen_internal_assert(fLeft < Literal(0));
 
-#if defined EIGEN_INTERNAL_DEBUGGING || defined EIGEN_BDCSVD_DEBUG_VERBOSE
+#if defined EIGEN_BDCSVD_DEBUG_VERBOSE || defined EIGEN_BDCSVD_SANITY_CHECKS || defined EIGEN_INTERNAL_DEBUGGING
       RealScalar fRight = secularEq(rightShifted, col0, diag, perm, diagShifted, shift);
 #endif
 
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      if (!(numext::isfinite)(fLeft))
+        std::cout << "f(" << leftShifted << ") =" << fLeft << " ; " << left << " " << shift << " " << right << "\n";
+      eigen_internal_assert((numext::isfinite)(fLeft));
 
-#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";
+      if (!(numext::isfinite)(fRight))
+        std::cout << "f(" << rightShifted << ") =" << fRight << " ; " << left << " " << shift << " " << right << "\n";
+        // eigen_internal_assert((numext::isfinite)(fRight));
+#endif
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+      if (!(fLeft * fRight < 0)) {
+        std::cout << "f(leftShifted) using  leftShifted=" << leftShifted
+                  << " ;  diagShifted(1:10):" << diagShifted.head(10).transpose() << "\n ; "
+                  << "left==shift=" << bool(left == shift) << " ; left-shift = " << (left - shift) << "\n";
+        std::cout << "k=" << k << ", " << fLeft << " * " << fRight << " == " << fLeft * fRight << "  ;  "
+                  << "[" << left << " .. " << right << "] -> [" << leftShifted << " " << rightShifted
+                  << "], shift=" << shift << " ,  f(right)=" << secularEq(0, col0, diag, perm, diagShifted, shift)
+                  << " == " << secularEq(right, col0, diag, perm, diag, 0) << " == " << fRight << "\n";
       }
 #endif
       eigen_internal_assert(fLeft * fRight < Literal(0));
 
-      if(fLeft<Literal(0))
-      {
-        while (rightShifted - leftShifted > Literal(2) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
-        {
+      if (fLeft < 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);
           eigen_internal_assert((numext::isfinite)(fMid));
 
-          if (fLeft * fMid < Literal(0))
-          {
+          if (fLeft * fMid < Literal(0)) {
             rightShifted = midShifted;
-          }
-          else
-          {
+          } else {
             leftShifted = midShifted;
             fLeft = fMid;
           }
         }
         muCur = (leftShifted + rightShifted) / Literal(2);
-      }
-      else 
-      {
+      } else {
         // We have a problem as shifting on the left or right give either a positive or negative value
         // at the middle of [left,right]...
-        // Instead fo abbording or entering an infinite loop,
+        // Instead of abbording or entering an infinite loop,
         // let's just use the middle as the estimated zero-crossing:
         muCur = (right - left) * RealScalar(0.5);
-        if(shift == right)
-          muCur = -muCur;
+        // we can test exact equality here, because shift comes from `... ? left : right`
+        if (numext::equal_strict(shift, right)) muCur = -muCur;
       }
     }
-      
+
     singVals[k] = shift + muCur;
     shifts[k] = shift;
     mus[k] = muCur;
 
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+    if (k + 1 < n)
+      std::cout << "found " << singVals[k] << " == " << shift << " + " << muCur << " from " << diag(k) << " .. "
+                << diag(k + 1) << "\n";
+#endif
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+    eigen_internal_assert(k == 0 || singVals[k] >= singVals[k - 1]);
+    eigen_internal_assert(singVals[k] >= diag(k));
+#endif
+
     // 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();
+    // 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)
-{
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::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)
-  {
+  if (m == 0) {
     zhat.setZero();
     return;
   }
-  Index last = perm(m-1);
+  Index lastIdx = 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
+  for (Index k = 0; k < n; ++k) {
+    if (numext::is_exactly_zero(col0(k)))  // deflated
       zhat(k) = Literal(0);
-    else
-    {
+    else {
       // see equation (3.6)
       RealScalar dk = diag(k);
-      RealScalar prod = (singVals(last) + dk) * (mus(last) + (shifts(last) - dk));
+      RealScalar prod = (singVals(lastIdx) + dk) * (mus(lastIdx) + (shifts(lastIdx) - dk));
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      if (prod < 0) {
+        std::cout << "k = " << k << " ;  z(k)=" << col0(k) << ", diag(k)=" << dk << "\n";
+        std::cout << "prod = "
+                  << "(" << singVals(lastIdx) << " + " << dk << ") * (" << mus(lastIdx) << " + (" << shifts(lastIdx)
+                  << " - " << dk << "))"
+                  << "\n";
+        std::cout << "     = " << singVals(lastIdx) + dk << " * " << mus(lastIdx) + (shifts(lastIdx) - dk) << "\n";
+      }
+      eigen_internal_assert(prod >= 0);
+#endif
 
-      for(Index l = 0; l<m; ++l)
-      {
+      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)));
+        if (i != k) {
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+          if (i >= k && (l == 0 || l - 1 >= m)) {
+            std::cout << "Error in perturbCol0\n";
+            std::cout << "  " << k << "/" << n << " " << l << "/" << m << " " << i << "/" << n << " ; " << col0(k)
+                      << " " << diag(k) << " "
+                      << "\n";
+            std::cout << "  " << diag(i) << "\n";
+            Index j = (i < k /*|| l==0*/) ? i : perm(l - 1);
+            std::cout << "  "
+                      << "j=" << j << "\n";
+          }
+#endif
+          Index j = i < k ? i : l > 0 ? perm(l - 1) : i;
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+          if (!(dk != Literal(0) || diag(i) != Literal(0))) {
+            std::cout << "k=" << k << ", i=" << i << ", l=" << l << ", perm.size()=" << perm.size() << "\n";
+          }
+          eigen_internal_assert(dk != Literal(0) || diag(i) != Literal(0));
+#endif
+          prod *= ((singVals(j) + dk) / ((diag(i) + dk))) * ((mus(j) + (shifts(j) - dk)) / ((diag(i) - dk)));
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+          eigen_internal_assert(prod >= 0);
+#endif
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-          if(i!=k && numext::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";
+          if (i != k &&
+              numext::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";
+      std::cout << "zhat(" << k << ") =  sqrt( " << prod << ")  ;  " << (singVals(lastIdx) + dk) << " * "
+                << mus(lastIdx) + shifts(lastIdx) << " - " << dk << "\n";
 #endif
       RealScalar tmp = sqrt(prod);
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      eigen_internal_assert((numext::isfinite)(tmp));
+#endif
       zhat(k) = col0(k) > Literal(0) ? RealScalar(tmp) : RealScalar(-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)
-{
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::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);
+
+  for (Index k = 0; k < n; ++k) {
+    if (numext::is_exactly_zero(zhat(k))) {
+      U.col(k) = VectorType::Unit(n + 1, k);
       if (m_compV) V.col(k) = VectorType::Unit(n, k);
-    }
-    else
-    {
+    } else {
       U.col(k).setZero();
-      for(Index l=0;l<m;++l)
-      {
+      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(i, k) = zhat(i) / (((diag(i) - shifts(k)) - mus(k))) / ((diag(i) + singVals[k]));
       }
-      U(n,k) = Literal(0);
+      U(n, k) = Literal(0);
       U.col(k).normalize();
-    
-      if (m_compV)
-      {
+
+      if (m_compV) {
         V.col(k).setZero();
-        for(Index l=1;l<m;++l)
-        {
+        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(i, k) = diag(i) * zhat(i) / (((diag(i) - shifts(k)) - mus(k))) / ((diag(i) + singVals[k]));
         }
-        V(0,k) = Literal(-1);
+        V(0, k) = Literal(-1);
         V.col(k).normalize();
       }
     }
   }
-  U.col(n) = VectorType::Unit(n+1, n);
+  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)
-{
+// We use a rotation to zero out zi applied to the left of M, and set di = 0.
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::deflation43(Index firstCol, Index shift, Index i, Index size) {
   using std::abs;
-  using std::sqrt;
   using std::pow;
+  using std::sqrt;
   Index start = firstCol + shift;
   RealScalar c = m_computed(start, start);
-  RealScalar s = m_computed(start+i, start);
-  RealScalar r = numext::hypot(c,s);
-  if (r == Literal(0))
-  {
-    m_computed(start+i, start+i) = Literal(0);
+  RealScalar s = m_computed(start + i, start);
+  RealScalar r = numext::hypot(c, s);
+  if (numext::is_exactly_zero(r)) {
+    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
+  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)
-{
+// i,j >= 1, i > j, and |di - dj| < epsilon * norm2(M)
+// We apply two rotations to have zi = 0, and dj = di.
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::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
+  using std::sqrt;
+
+  RealScalar s = m_computed(firstColm + i, firstColm);
+  RealScalar c = m_computed(firstColm + j, firstColm);
+  RealScalar r = numext::hypot(c, 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";
+            << 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);
+  if (numext::is_exactly_zero(r)) {
+    m_computed(firstColm + j, firstColm + j) = m_computed(firstColm + i, firstColm + i);
     return;
   }
-  c/=r;
-  s/=r;
-  m_computed(firstColm + i, firstColm) = r;  
+  c /= r;
+  s /= r;
+  m_computed(firstColm + j, 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
+  m_computed(firstColm + i, firstColm) = Literal(0);
 
+  JacobiRotation<RealScalar> J(c, -s);
+  if (m_compU)
+    m_naiveU.middleRows(firstColu, size + 1).applyOnTheRight(firstColu + j, firstColu + i, J);
+  else
+    m_naiveU.applyOnTheRight(firstColu + j, firstColu + i, J);
+  if (m_compV) m_naiveV.middleRows(firstRowW, size).applyOnTheRight(firstColW + j, firstColW + i, 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;
+template <typename MatrixType, int Options>
+void BDCSVD<MatrixType, Options>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW,
+                                            Index shift) {
   using std::abs;
+  using std::sqrt;
   const Index length = lastCol + 1 - firstCol;
-  
-  Block<MatrixXr,Dynamic,1> col0(m_computed, firstCol+shift, firstCol+shift, length, 1);
+
+  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);
-  
+  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);
-  
+  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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_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";
+#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
+
+  // 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";
+  // 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";
+  // 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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_assert(m_computed.allFinite());
 #endif
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
   std::cout << "to be sorted: " << diag.transpose() << "\n\n";
+  std::cout << "            : " << col0.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();
-    
+    // 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.
+    const bool total_deflation = (col0.tail(length - 1).array().abs() < 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();
+    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++;
+      for (Index i = 1; i < length; ++i)
+        if (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)
-      {
+    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;
+        if (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++)
-    {
+    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)];
+
+    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));
+      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));
+      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
+      // update real pos
       const Index realI = realInd[i];
       realCol[realI] = J;
       realCol[pi] = i;
@@ -1229,49 +1410,61 @@ void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index
   std::cout << "sorted: " << diag.transpose().format(bdcsvdfmt) << "\n";
   std::cout << "      : " << col0.transpose() << "\n\n";
 #endif
-    
-  //condition 4.4
+
+  // 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 )
-      {
+    Index i = length - 1;
+    // Find last non-deflated entry.
+    while (i > 0 && (diag(i) < considerZero || abs(col0(i)) < considerZero)) --i;
+
+    for (; i > 1; --i)
+      if ((diag(i) - diag(i - 1)) < epsilon_strict) {
 #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";
+        std::cout << "deflation 4.4 with i = " << i << " because " << diag(i) << " - " << diag(i - 1)
+                  << " == " << (diag(i) - diag(i - 1)) << " < " << epsilon_strict << "\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);
+        eigen_internal_assert(abs(diag(i) - diag(i - 1)) < epsilon_coarse &&
+                              " diagonal entries are not properly sorted");
+        deflation44(firstCol, firstCol + shift, firstRowW, firstColW, i, i - 1, length);
       }
   }
-  
+
 #ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  for(Index j=2;j<length;++j)
-    assert(diag(j-1)<=diag(j) || abs(diag(j))<considerZero);
+  for (Index j = 2; j < length; ++j) eigen_internal_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());
+  eigen_internal_assert(m_naiveU.allFinite());
+  eigen_internal_assert(m_naiveV.allFinite());
+  eigen_internal_assert(m_computed.allFinite());
 #endif
-}//end deflation
+}  // 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);
+ *
+ * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
+ *
+ * \sa class BDCSVD
+ */
+template <typename Derived>
+template <int Options>
+BDCSVD<typename MatrixBase<Derived>::PlainObject, Options> MatrixBase<Derived>::bdcSvd() const {
+  return BDCSVD<PlainObject, Options>(*this);
+}
+
+/** \svd_module
+ *
+ * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
+ *
+ * \sa class BDCSVD
+ */
+template <typename Derived>
+template <int Options>
+BDCSVD<typename MatrixBase<Derived>::PlainObject, Options> MatrixBase<Derived>::bdcSvd(
+    unsigned int computationOptions) const {
+  return BDCSVD<PlainObject, Options>(*this, computationOptions);
 }
-#endif
 
-} // end namespace Eigen
+}  // end namespace Eigen
 
 #endif