casadi 3.6.4__cp310-none-macosx_11_0_arm64.whl → 3.6.6__cp310-none-macosx_11_0_arm64.whl

casadi/include/include/eigen3/unsupported/Eigen/src/EulerAngles/EulerAngles.h

@@ -1,355 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERANGLESCLASS_H// TODO: Fix previous "EIGEN_EULERANGLES_H" definition?
-#define EIGEN_EULERANGLESCLASS_H
-
-namespace Eigen
-{
-  /** \class EulerAngles
-    *
-    * \ingroup EulerAngles_Module
-    *
-    * \brief Represents a rotation in a 3 dimensional space as three Euler angles.
-    *
-    * Euler rotation is a set of three rotation of three angles over three fixed axes, defined by the EulerSystem given as a template parameter.
-    * 
-    * Here is how intrinsic Euler angles works:
-    *  - first, rotate the axes system over the alpha axis in angle alpha
-    *  - then, rotate the axes system over the beta axis(which was rotated in the first stage) in angle beta
-    *  - then, rotate the axes system over the gamma axis(which was rotated in the two stages above) in angle gamma
-    *
-    * \note This class support only intrinsic Euler angles for simplicity,
-    *  see EulerSystem how to easily overcome this for extrinsic systems.
-    *
-    * ### Rotation representation and conversions ###
-    *
-    * It has been proved(see Wikipedia link below) that every rotation can be represented
-    *  by Euler angles, but there is no single representation (e.g. unlike rotation matrices).
-    * Therefore, you can convert from Eigen rotation and to them
-    *  (including rotation matrices, which is not called "rotations" by Eigen design).
-    *
-    * Euler angles usually used for:
-    *  - convenient human representation of rotation, especially in interactive GUI.
-    *  - gimbal systems and robotics
-    *  - efficient encoding(i.e. 3 floats only) of rotation for network protocols.
-    *
-    * However, Euler angles are slow comparing to quaternion or matrices,
-    *  because their unnatural math definition, although it's simple for human.
-    * To overcome this, this class provide easy movement from the math friendly representation
-    *  to the human friendly representation, and vise-versa.
-    *
-    * All the user need to do is a safe simple C++ type conversion,
-    *  and this class take care for the math.
-    * Additionally, some axes related computation is done in compile time.
-    *
-    * #### Euler angles ranges in conversions ####
-    * Rotations representation as EulerAngles are not single (unlike matrices),
-    *  and even have infinite EulerAngles representations.<BR>
-    * For example, add or subtract 2*PI from either angle of EulerAngles
-    *  and you'll get the same rotation.
-    * This is the general reason for infinite representation,
-    *  but it's not the only general reason for not having a single representation.
-    *
-    * When converting rotation to EulerAngles, this class convert it to specific ranges
-    * When converting some rotation to EulerAngles, the rules for ranges are as follow:
-    * - If the rotation we converting from is an EulerAngles
-    *  (even when it represented as RotationBase explicitly), angles ranges are __undefined__.
-    * - otherwise, alpha and gamma angles will be in the range [-PI, PI].<BR>
-    *   As for Beta angle:
-    *    - If the system is Tait-Bryan, the beta angle will be in the range [-PI/2, PI/2].
-    *    - otherwise:
-    *      - If the beta axis is positive, the beta angle will be in the range [0, PI]
-    *      - If the beta axis is negative, the beta angle will be in the range [-PI, 0]
-    *
-    * \sa EulerAngles(const MatrixBase<Derived>&)
-    * \sa EulerAngles(const RotationBase<Derived, 3>&)
-    *
-    * ### Convenient user typedefs ###
-    *
-    * Convenient typedefs for EulerAngles exist for float and double scalar,
-    *  in a form of EulerAngles{A}{B}{C}{scalar},
-    *  e.g. \ref EulerAnglesXYZd, \ref EulerAnglesZYZf.
-    *
-    * Only for positive axes{+x,+y,+z} Euler systems are have convenient typedef.
-    * If you need negative axes{-x,-y,-z}, it is recommended to create you own typedef with
-    *  a word that represent what you need.
-    *
-    * ### Example ###
-    *
-    * \include EulerAngles.cpp
-    * Output: \verbinclude EulerAngles.out
-    *
-    * ### Additional reading ###
-    *
-    * If you're want to get more idea about how Euler system work in Eigen see EulerSystem.
-    *
-    * More information about Euler angles: https://en.wikipedia.org/wiki/Euler_angles
-    *
-    * \tparam _Scalar the scalar type, i.e. the type of the angles.
-    *
-    * \tparam _System the EulerSystem to use, which represents the axes of rotation.
-    */
-  template <typename _Scalar, class _System>
-  class EulerAngles : public RotationBase<EulerAngles<_Scalar, _System>, 3>
-  {
-    public:
-      typedef RotationBase<EulerAngles<_Scalar, _System>, 3> Base;
-      
-      /** the scalar type of the angles */
-      typedef _Scalar Scalar;
-      typedef typename NumTraits<Scalar>::Real RealScalar;
-      
-      /** the EulerSystem to use, which represents the axes of rotation. */
-      typedef _System System;
-    
-      typedef Matrix<Scalar,3,3> Matrix3; /*!< the equivalent rotation matrix type */
-      typedef Matrix<Scalar,3,1> Vector3; /*!< the equivalent 3 dimension vector type */
-      typedef Quaternion<Scalar> QuaternionType; /*!< the equivalent quaternion type */
-      typedef AngleAxis<Scalar> AngleAxisType; /*!< the equivalent angle-axis type */
-      
-      /** \returns the axis vector of the first (alpha) rotation */
-      static Vector3 AlphaAxisVector() {
-        const Vector3& u = Vector3::Unit(System::AlphaAxisAbs - 1);
-        return System::IsAlphaOpposite ? -u : u;
-      }
-      
-      /** \returns the axis vector of the second (beta) rotation */
-      static Vector3 BetaAxisVector() {
-        const Vector3& u = Vector3::Unit(System::BetaAxisAbs - 1);
-        return System::IsBetaOpposite ? -u : u;
-      }
-      
-      /** \returns the axis vector of the third (gamma) rotation */
-      static Vector3 GammaAxisVector() {
-        const Vector3& u = Vector3::Unit(System::GammaAxisAbs - 1);
-        return System::IsGammaOpposite ? -u : u;
-      }
-
-    private:
-      Vector3 m_angles;
-
-    public:
-      /** Default constructor without initialization. */
-      EulerAngles() {}
-      /** Constructs and initialize an EulerAngles (\p alpha, \p beta, \p gamma). */
-      EulerAngles(const Scalar& alpha, const Scalar& beta, const Scalar& gamma) :
-        m_angles(alpha, beta, gamma) {}
-      
-      // TODO: Test this constructor
-      /** Constructs and initialize an EulerAngles from the array data {alpha, beta, gamma} */
-      explicit EulerAngles(const Scalar* data) : m_angles(data) {}
-      
-      /** Constructs and initializes an EulerAngles from either:
-        *  - a 3x3 rotation matrix expression(i.e. pure orthogonal matrix with determinant of +1),
-        *  - a 3D vector expression representing Euler angles.
-        *
-        * \note If \p other is a 3x3 rotation matrix, the angles range rules will be as follow:<BR>
-        *  Alpha and gamma angles will be in the range [-PI, PI].<BR>
-        *  As for Beta angle:
-        *   - If the system is Tait-Bryan, the beta angle will be in the range [-PI/2, PI/2].
-        *   - otherwise:
-        *     - If the beta axis is positive, the beta angle will be in the range [0, PI]
-        *     - If the beta axis is negative, the beta angle will be in the range [-PI, 0]
-       */
-      template<typename Derived>
-      explicit EulerAngles(const MatrixBase<Derived>& other) { *this = other; }
-      
-      /** Constructs and initialize Euler angles from a rotation \p rot.
-        *
-        * \note If \p rot is an EulerAngles (even when it represented as RotationBase explicitly),
-        *  angles ranges are __undefined__.
-        *  Otherwise, alpha and gamma angles will be in the range [-PI, PI].<BR>
-        *  As for Beta angle:
-        *   - If the system is Tait-Bryan, the beta angle will be in the range [-PI/2, PI/2].
-        *   - otherwise:
-        *     - If the beta axis is positive, the beta angle will be in the range [0, PI]
-        *     - If the beta axis is negative, the beta angle will be in the range [-PI, 0]
-      */
-      template<typename Derived>
-      EulerAngles(const RotationBase<Derived, 3>& rot) { System::CalcEulerAngles(*this, rot.toRotationMatrix()); }
-      
-      /*EulerAngles(const QuaternionType& q)
-      {
-        // TODO: Implement it in a faster way for quaternions
-        // According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
-        //  we can compute only the needed matrix cells and then convert to euler angles. (see ZYX example below)
-        // Currently we compute all matrix cells from quaternion.
-
-        // Special case only for ZYX
-        //Scalar y2 = q.y() * q.y();
-        //m_angles[0] = std::atan2(2*(q.w()*q.z() + q.x()*q.y()), (1 - 2*(y2 + q.z()*q.z())));
-        //m_angles[1] = std::asin( 2*(q.w()*q.y() - q.z()*q.x()));
-        //m_angles[2] = std::atan2(2*(q.w()*q.x() + q.y()*q.z()), (1 - 2*(q.x()*q.x() + y2)));
-      }*/
-
-      /** \returns The angle values stored in a vector (alpha, beta, gamma). */
-      const Vector3& angles() const { return m_angles; }
-      /** \returns A read-write reference to the angle values stored in a vector (alpha, beta, gamma). */
-      Vector3& angles() { return m_angles; }
-
-      /** \returns The value of the first angle. */
-      Scalar alpha() const { return m_angles[0]; }
-      /** \returns A read-write reference to the angle of the first angle. */
-      Scalar& alpha() { return m_angles[0]; }
-
-      /** \returns The value of the second angle. */
-      Scalar beta() const { return m_angles[1]; }
-      /** \returns A read-write reference to the angle of the second angle. */
-      Scalar& beta() { return m_angles[1]; }
-
-      /** \returns The value of the third angle. */
-      Scalar gamma() const { return m_angles[2]; }
-      /** \returns A read-write reference to the angle of the third angle. */
-      Scalar& gamma() { return m_angles[2]; }
-
-      /** \returns The Euler angles rotation inverse (which is as same as the negative),
-        *  (-alpha, -beta, -gamma).
-      */
-      EulerAngles inverse() const
-      {
-        EulerAngles res;
-        res.m_angles = -m_angles;
-        return res;
-      }
-
-      /** \returns The Euler angles rotation negative (which is as same as the inverse),
-        *  (-alpha, -beta, -gamma).
-      */
-      EulerAngles operator -() const
-      {
-        return inverse();
-      }
-      
-      /** Set \c *this from either:
-        *  - a 3x3 rotation matrix expression(i.e. pure orthogonal matrix with determinant of +1),
-        *  - a 3D vector expression representing Euler angles.
-        *
-        * See EulerAngles(const MatrixBase<Derived, 3>&) for more information about
-        *  angles ranges output.
-      */
-      template<class Derived>
-      EulerAngles& operator=(const MatrixBase<Derived>& other)
-      {
-        EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename Derived::Scalar>::value),
-         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-        
-        internal::eulerangles_assign_impl<System, Derived>::run(*this, other.derived());
-        return *this;
-      }
-
-      // TODO: Assign and construct from another EulerAngles (with different system)
-      
-      /** Set \c *this from a rotation.
-        *
-        * See EulerAngles(const RotationBase<Derived, 3>&) for more information about
-        *  angles ranges output.
-      */
-      template<typename Derived>
-      EulerAngles& operator=(const RotationBase<Derived, 3>& rot) {
-        System::CalcEulerAngles(*this, rot.toRotationMatrix());
-        return *this;
-      }
-      
-      /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-        * determined by \a prec.
-        *
-        * \sa MatrixBase::isApprox() */
-      bool isApprox(const EulerAngles& other,
-        const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
-      { return angles().isApprox(other.angles(), prec); }
-
-      /** \returns an equivalent 3x3 rotation matrix. */
-      Matrix3 toRotationMatrix() const
-      {
-        // TODO: Calc it faster
-        return static_cast<QuaternionType>(*this).toRotationMatrix();
-      }
-
-      /** Convert the Euler angles to quaternion. */
-      operator QuaternionType() const
-      {
-        return
-          AngleAxisType(alpha(), AlphaAxisVector()) *
-          AngleAxisType(beta(), BetaAxisVector())   *
-          AngleAxisType(gamma(), GammaAxisVector());
-      }
-      
-      friend std::ostream& operator<<(std::ostream& s, const EulerAngles<Scalar, System>& eulerAngles)
-      {
-        s << eulerAngles.angles().transpose();
-        return s;
-      }
-      
-      /** \returns \c *this with scalar type casted to \a NewScalarType */
-      template <typename NewScalarType>
-      EulerAngles<NewScalarType, System> cast() const
-      {
-        EulerAngles<NewScalarType, System> e;
-        e.angles() = angles().template cast<NewScalarType>();
-        return e;
-      }
-  };
-
-#define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \
-  /** \ingroup EulerAngles_Module */ \
-  typedef EulerAngles<SCALAR_TYPE, EulerSystem##AXES> EulerAngles##AXES##SCALAR_POSTFIX;
-
-#define EIGEN_EULER_ANGLES_TYPEDEFS(SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYZ, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYX, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZY, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZX, SCALAR_TYPE, SCALAR_POSTFIX) \
- \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZX, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZY, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXZ, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXY, SCALAR_TYPE, SCALAR_POSTFIX) \
- \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXY, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXZ, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYX, SCALAR_TYPE, SCALAR_POSTFIX) \
-  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYZ, SCALAR_TYPE, SCALAR_POSTFIX)
-
-EIGEN_EULER_ANGLES_TYPEDEFS(float, f)
-EIGEN_EULER_ANGLES_TYPEDEFS(double, d)
-
-  namespace internal
-  {
-    template<typename _Scalar, class _System>
-    struct traits<EulerAngles<_Scalar, _System> >
-    {
-      typedef _Scalar Scalar;
-    };
-    
-    // set from a rotation matrix
-    template<class System, class Other>
-    struct eulerangles_assign_impl<System,Other,3,3>
-    {
-      typedef typename Other::Scalar Scalar;
-      static void run(EulerAngles<Scalar, System>& e, const Other& m)
-      {
-        System::CalcEulerAngles(e, m);
-      }
-    };
-    
-    // set from a vector of Euler angles
-    template<class System, class Other>
-    struct eulerangles_assign_impl<System,Other,3,1>
-    {
-      typedef typename Other::Scalar Scalar;
-      static void run(EulerAngles<Scalar, System>& e, const Other& vec)
-      {
-        e.angles() = vec;
-      }
-    };
-  }
-}
-
-#endif // EIGEN_EULERANGLESCLASS_H

casadi/include/include/eigen3/unsupported/Eigen/src/EulerAngles/EulerSystem.h

@@ -1,305 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERSYSTEM_H
-#define EIGEN_EULERSYSTEM_H
-
-namespace Eigen
-{
-  // Forward declarations
-  template <typename _Scalar, class _System>
-  class EulerAngles;
-  
-  namespace internal
-  {
-    // TODO: Add this trait to the Eigen internal API?
-    template <int Num, bool IsPositive = (Num > 0)>
-    struct Abs
-    {
-      enum { value = Num };
-    };
-  
-    template <int Num>
-    struct Abs<Num, false>
-    {
-      enum { value = -Num };
-    };
-
-    template <int Axis>
-    struct IsValidAxis
-    {
-      enum { value = Axis != 0 && Abs<Axis>::value <= 3 };
-    };
-    
-    template<typename System,
-            typename Other,
-            int OtherRows=Other::RowsAtCompileTime,
-            int OtherCols=Other::ColsAtCompileTime>
-    struct eulerangles_assign_impl;
-  }
-  
-  #define EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(COND,MSG) typedef char static_assertion_##MSG[(COND)?1:-1]
-  
-  /** \brief Representation of a fixed signed rotation axis for EulerSystem.
-    *
-    * \ingroup EulerAngles_Module
-    *
-    * Values here represent:
-    *  - The axis of the rotation: X, Y or Z.
-    *  - The sign (i.e. direction of the rotation along the axis): positive(+) or negative(-)
-    *
-    * Therefore, this could express all the axes {+X,+Y,+Z,-X,-Y,-Z}
-    *
-    * For positive axis, use +EULER_{axis}, and for negative axis use -EULER_{axis}.
-    */
-  enum EulerAxis
-  {
-    EULER_X = 1, /*!< the X axis */
-    EULER_Y = 2, /*!< the Y axis */
-    EULER_Z = 3  /*!< the Z axis */
-  };
-  
-  /** \class EulerSystem
-    *
-    * \ingroup EulerAngles_Module
-    *
-    * \brief Represents a fixed Euler rotation system.
-    *
-    * This meta-class goal is to represent the Euler system in compilation time, for EulerAngles.
-    *
-    * You can use this class to get two things:
-    *  - Build an Euler system, and then pass it as a template parameter to EulerAngles.
-    *  - Query some compile time data about an Euler system. (e.g. Whether it's Tait-Bryan)
-    *
-    * Euler rotation is a set of three rotation on fixed axes. (see \ref EulerAngles)
-    * This meta-class store constantly those signed axes. (see \ref EulerAxis)
-    *
-    * ### Types of Euler systems ###
-    *
-    * All and only valid 3 dimension Euler rotation over standard
-    *  signed axes{+X,+Y,+Z,-X,-Y,-Z} are supported:
-    *  - all axes X, Y, Z in each valid order (see below what order is valid)
-    *  - rotation over the axis is supported both over the positive and negative directions.
-    *  - both Tait-Bryan and proper/classic Euler angles (i.e. the opposite).
-    *
-    * Since EulerSystem support both positive and negative directions,
-    *  you may call this rotation distinction in other names:
-    *  - _right handed_ or _left handed_
-    *  - _counterclockwise_ or _clockwise_
-    *
-    * Notice all axed combination are valid, and would trigger a static assertion.
-    * Same unsigned axes can't be neighbors, e.g. {X,X,Y} is invalid.
-    * This yield two and only two classes:
-    *  - _Tait-Bryan_ - all unsigned axes are distinct, e.g. {X,Y,Z}
-    *  - _proper/classic Euler angles_ - The first and the third unsigned axes is equal,
-    *     and the second is different, e.g. {X,Y,X}
-    *
-    * ### Intrinsic vs extrinsic Euler systems ###
-    *
-    * Only intrinsic Euler systems are supported for simplicity.
-    *  If you want to use extrinsic Euler systems,
-    *   just use the equal intrinsic opposite order for axes and angles.
-    *  I.e axes (A,B,C) becomes (C,B,A), and angles (a,b,c) becomes (c,b,a).
-    *
-    * ### Convenient user typedefs ###
-    *
-    * Convenient typedefs for EulerSystem exist (only for positive axes Euler systems),
-    *  in a form of EulerSystem{A}{B}{C}, e.g. \ref EulerSystemXYZ.
-    *
-    * ### Additional reading ###
-    *
-    * More information about Euler angles: https://en.wikipedia.org/wiki/Euler_angles
-    *
-    * \tparam _AlphaAxis the first fixed EulerAxis
-    *
-    * \tparam _BetaAxis the second fixed EulerAxis
-    *
-    * \tparam _GammaAxis the third fixed EulerAxis
-    */
-  template <int _AlphaAxis, int _BetaAxis, int _GammaAxis>
-  class EulerSystem
-  {
-    public:
-    // It's defined this way and not as enum, because I think
-    //  that enum is not guerantee to support negative numbers
-    
-    /** The first rotation axis */
-    static const int AlphaAxis = _AlphaAxis;
-    
-    /** The second rotation axis */
-    static const int BetaAxis = _BetaAxis;
-    
-    /** The third rotation axis */
-    static const int GammaAxis = _GammaAxis;
-
-    enum
-    {
-      AlphaAxisAbs = internal::Abs<AlphaAxis>::value, /*!< the first rotation axis unsigned */
-      BetaAxisAbs = internal::Abs<BetaAxis>::value, /*!< the second rotation axis unsigned */
-      GammaAxisAbs = internal::Abs<GammaAxis>::value, /*!< the third rotation axis unsigned */
-      
-      IsAlphaOpposite = (AlphaAxis < 0) ? 1 : 0, /*!< whether alpha axis is negative */
-      IsBetaOpposite = (BetaAxis < 0) ? 1 : 0, /*!< whether beta axis is negative */
-      IsGammaOpposite = (GammaAxis < 0) ? 1 : 0, /*!< whether gamma axis is negative */
-
-      // Parity is even if alpha axis X is followed by beta axis Y, or Y is followed
-      // by Z, or Z is followed by X; otherwise it is odd.
-      IsOdd = ((AlphaAxisAbs)%3 == (BetaAxisAbs - 1)%3) ? 0 : 1, /*!< whether the Euler system is odd */
-      IsEven = IsOdd ? 0 : 1, /*!< whether the Euler system is even */
-
-      IsTaitBryan = ((unsigned)AlphaAxisAbs != (unsigned)GammaAxisAbs) ? 1 : 0 /*!< whether the Euler system is Tait-Bryan */
-    };
-    
-    private:
-    
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<AlphaAxis>::value,
-      ALPHA_AXIS_IS_INVALID);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<BetaAxis>::value,
-      BETA_AXIS_IS_INVALID);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<GammaAxis>::value,
-      GAMMA_AXIS_IS_INVALID);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((unsigned)AlphaAxisAbs != (unsigned)BetaAxisAbs,
-      ALPHA_AXIS_CANT_BE_EQUAL_TO_BETA_AXIS);
-      
-    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((unsigned)BetaAxisAbs != (unsigned)GammaAxisAbs,
-      BETA_AXIS_CANT_BE_EQUAL_TO_GAMMA_AXIS);
-
-    static const int
-      // I, J, K are the pivot indexes permutation for the rotation matrix, that match this Euler system. 
-      // They are used in this class converters.
-      // They are always different from each other, and their possible values are: 0, 1, or 2.
-      I_ = AlphaAxisAbs - 1,
-      J_ = (AlphaAxisAbs - 1 + 1 + IsOdd)%3,
-      K_ = (AlphaAxisAbs - 1 + 2 - IsOdd)%3
-    ;
-    
-    // TODO: Get @mat parameter in form that avoids double evaluation.
-    template <typename Derived>
-    static void CalcEulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type /*isTaitBryan*/)
-    {
-      using std::atan2;
-      using std::sqrt;
-      
-      typedef typename Derived::Scalar Scalar;
-
-      const Scalar plusMinus = IsEven? 1 : -1;
-      const Scalar minusPlus = IsOdd?  1 : -1;
-
-      const Scalar Rsum = sqrt((mat(I_,I_) * mat(I_,I_) + mat(I_,J_) * mat(I_,J_) + mat(J_,K_) * mat(J_,K_) + mat(K_,K_) * mat(K_,K_))/2);
-      res[1] = atan2(plusMinus * mat(I_,K_), Rsum);
-
-      // There is a singularity when cos(beta) == 0
-      if(Rsum > 4 * NumTraits<Scalar>::epsilon()) {// cos(beta) != 0
-        res[0] = atan2(minusPlus * mat(J_, K_), mat(K_, K_));
-        res[2] = atan2(minusPlus * mat(I_, J_), mat(I_, I_));
-      }
-      else if(plusMinus * mat(I_, K_) > 0) {// cos(beta) == 0 and sin(beta) == 1
-        Scalar spos = mat(J_, I_) + plusMinus * mat(K_, J_); // 2*sin(alpha + plusMinus * gamma
-        Scalar cpos = mat(J_, J_) + minusPlus * mat(K_, I_); // 2*cos(alpha + plusMinus * gamma)
-        Scalar alphaPlusMinusGamma = atan2(spos, cpos);
-        res[0] = alphaPlusMinusGamma;
-        res[2] = 0;
-      }
-      else {// cos(beta) == 0 and sin(beta) == -1
-        Scalar sneg = plusMinus * (mat(K_, J_) + minusPlus * mat(J_, I_)); // 2*sin(alpha + minusPlus*gamma)
-        Scalar cneg = mat(J_, J_) + plusMinus * mat(K_, I_);               // 2*cos(alpha + minusPlus*gamma)
-        Scalar alphaMinusPlusBeta = atan2(sneg, cneg);
-        res[0] = alphaMinusPlusBeta;
-        res[2] = 0;
-      }
-    }
-
-    template <typename Derived>
-    static void CalcEulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res,
-                                    const MatrixBase<Derived>& mat, internal::false_type /*isTaitBryan*/)
-    {
-      using std::atan2;
-      using std::sqrt;
-
-      typedef typename Derived::Scalar Scalar;
-
-      const Scalar plusMinus = IsEven? 1 : -1;
-      const Scalar minusPlus = IsOdd?  1 : -1;
-
-      const Scalar Rsum = sqrt((mat(I_, J_) * mat(I_, J_) + mat(I_, K_) * mat(I_, K_) + mat(J_, I_) * mat(J_, I_) + mat(K_, I_) * mat(K_, I_)) / 2);
-
-      res[1] = atan2(Rsum, mat(I_, I_));
-
-      // There is a singularity when sin(beta) == 0
-      if(Rsum > 4 * NumTraits<Scalar>::epsilon()) {// sin(beta) != 0
-        res[0] = atan2(mat(J_, I_), minusPlus * mat(K_, I_));
-        res[2] = atan2(mat(I_, J_), plusMinus * mat(I_, K_));
-      }
-      else if(mat(I_, I_) > 0) {// sin(beta) == 0 and cos(beta) == 1
-        Scalar spos = plusMinus * mat(K_, J_) + minusPlus * mat(J_, K_); // 2*sin(alpha + gamma)
-        Scalar cpos = mat(J_, J_) + mat(K_, K_);                         // 2*cos(alpha + gamma)
-        res[0] = atan2(spos, cpos);
-        res[2] = 0;
-      }
-      else {// sin(beta) == 0 and cos(beta) == -1
-        Scalar sneg = plusMinus * mat(K_, J_) + plusMinus * mat(J_, K_); // 2*sin(alpha - gamma)
-        Scalar cneg = mat(J_, J_) - mat(K_, K_);                         // 2*cos(alpha - gamma)
-        res[0] = atan2(sneg, cneg);
-        res[2] = 0;
-      }
-    }
-    
-    template<typename Scalar>
-    static void CalcEulerAngles(
-      EulerAngles<Scalar, EulerSystem>& res,
-      const typename EulerAngles<Scalar, EulerSystem>::Matrix3& mat)
-    {
-      CalcEulerAngles_imp(
-        res.angles(), mat,
-        typename internal::conditional<IsTaitBryan, internal::true_type, internal::false_type>::type());
-
-      if (IsAlphaOpposite)
-        res.alpha() = -res.alpha();
-        
-      if (IsBetaOpposite)
-        res.beta() = -res.beta();
-        
-      if (IsGammaOpposite)
-        res.gamma() = -res.gamma();
-    }
-    
-    template <typename _Scalar, class _System>
-    friend class Eigen::EulerAngles;
-    
-    template<typename System,
-            typename Other,
-            int OtherRows,
-            int OtherCols>
-    friend struct internal::eulerangles_assign_impl;
-  };
-
-#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \
-  /** \ingroup EulerAngles_Module */ \
-  typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
-  
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,Z)
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,X)
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,Y)
-  EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,X)
-  
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,X)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,Y)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Z)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Y)
-  
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Y)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Z)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,X)
-  EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,Z)
-}
-
-#endif // EIGEN_EULERSYSTEM_H