casadi 3.6.4__cp36-none-manylinux2014_aarch64.whl → 3.6.6__cp36-none-manylinux2014_aarch64.whl

casadi/include/include/eigen3/Eigen/src/SparseQR/SparseQR.h

@@ -1,758 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012-2013 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_QR_H
-#define EIGEN_SPARSE_QR_H
-
-namespace Eigen {
-
-template<typename MatrixType, typename OrderingType> class SparseQR;
-template<typename SparseQRType> struct SparseQRMatrixQReturnType;
-template<typename SparseQRType> struct SparseQRMatrixQTransposeReturnType;
-template<typename SparseQRType, typename Derived> struct SparseQR_QProduct;
-namespace internal {
-  template <typename SparseQRType> struct traits<SparseQRMatrixQReturnType<SparseQRType> >
-  {
-    typedef typename SparseQRType::MatrixType ReturnType;
-    typedef typename ReturnType::StorageIndex StorageIndex;
-    typedef typename ReturnType::StorageKind StorageKind;
-    enum {
-      RowsAtCompileTime = Dynamic,
-      ColsAtCompileTime = Dynamic
-    };
-  };
-  template <typename SparseQRType> struct traits<SparseQRMatrixQTransposeReturnType<SparseQRType> >
-  {
-    typedef typename SparseQRType::MatrixType ReturnType;
-  };
-  template <typename SparseQRType, typename Derived> struct traits<SparseQR_QProduct<SparseQRType, Derived> >
-  {
-    typedef typename Derived::PlainObject ReturnType;
-  };
-} // End namespace internal
-
-/**
-  * \ingroup SparseQR_Module
-  * \class SparseQR
-  * \brief Sparse left-looking QR factorization with numerical column pivoting
-  * 
-  * This class implements a left-looking QR decomposition of sparse matrices
-  * with numerical column pivoting.
-  * When a column has a norm less than a given tolerance
-  * it is implicitly permuted to the end. The QR factorization thus obtained is 
-  * given by A*P = Q*R where R is upper triangular or trapezoidal. 
-  * 
-  * P is the column permutation which is the product of the fill-reducing and the
-  * numerical permutations. Use colsPermutation() to get it.
-  * 
-  * Q is the orthogonal matrix represented as products of Householder reflectors. 
-  * Use matrixQ() to get an expression and matrixQ().adjoint() to get the adjoint.
-  * You can then apply it to a vector.
-  * 
-  * R is the sparse triangular or trapezoidal matrix. The later occurs when A is rank-deficient.
-  * matrixR().topLeftCorner(rank(), rank()) always returns a triangular factor of full rank.
-  * 
-  * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
-  * \tparam _OrderingType The fill-reducing ordering method. See the \link OrderingMethods_Module 
-  *  OrderingMethods \endlink module for the list of built-in and external ordering methods.
-  * 
-  * \implsparsesolverconcept
-  *
-  * The numerical pivoting strategy and default threshold are the same as in SuiteSparse QR, and
-  * detailed in the following paper:
-  * <i>
-  * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing
-  * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011.
-  * </i>
-  * Even though it is qualified as "rank-revealing", this strategy might fail for some 
-  * rank deficient problems. When this class is used to solve linear or least-square problems
-  * it is thus strongly recommended to check the accuracy of the computed solution. If it
-  * failed, it usually helps to increase the threshold with setPivotThreshold.
-  * 
-  * \warning The input sparse matrix A must be in compressed mode (see SparseMatrix::makeCompressed()).
-  * \warning For complex matrices matrixQ().transpose() will actually return the adjoint matrix.
-  * 
-  */
-template<typename _MatrixType, typename _OrderingType>
-class SparseQR : public SparseSolverBase<SparseQR<_MatrixType,_OrderingType> >
-{
-  protected:
-    typedef SparseSolverBase<SparseQR<_MatrixType,_OrderingType> > Base;
-    using Base::m_isInitialized;
-  public:
-    using Base::_solve_impl;
-    typedef _MatrixType MatrixType;
-    typedef _OrderingType OrderingType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::StorageIndex StorageIndex;
-    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> QRMatrixType;
-    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
-    typedef Matrix<Scalar, Dynamic, 1> ScalarVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
-
-    enum {
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    
-  public:
-    SparseQR () :  m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
-    { }
-    
-    /** Construct a QR factorization of the matrix \a mat.
-      * 
-      * \warning The matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-      * 
-      * \sa compute()
-      */
-    explicit SparseQR(const MatrixType& mat) : m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
-    {
-      compute(mat);
-    }
-    
-    /** Computes the QR factorization of the sparse matrix \a mat.
-      * 
-      * \warning The matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-      * 
-      * \sa analyzePattern(), factorize()
-      */
-    void compute(const MatrixType& mat)
-    {
-      analyzePattern(mat);
-      factorize(mat);
-    }
-    void analyzePattern(const MatrixType& mat);
-    void factorize(const MatrixType& mat);
-    
-    /** \returns the number of rows of the represented matrix. 
-      */
-    inline Index rows() const { return m_pmat.rows(); }
-    
-    /** \returns the number of columns of the represented matrix. 
-      */
-    inline Index cols() const { return m_pmat.cols();}
-    
-    /** \returns a const reference to the \b sparse upper triangular matrix R of the QR factorization.
-      * \warning The entries of the returned matrix are not sorted. This means that using it in algorithms
-      *          expecting sorted entries will fail. This include random coefficient accesses (SpaseMatrix::coeff()),
-      *          and coefficient-wise operations. Matrix products and triangular solves are fine though.
-      *
-      * To sort the entries, you can assign it to a row-major matrix, and if a column-major matrix
-      * is required, you can copy it again:
-      * \code
-      * SparseMatrix<double>          R  = qr.matrixR();  // column-major, not sorted!
-      * SparseMatrix<double,RowMajor> Rr = qr.matrixR();  // row-major, sorted
-      * SparseMatrix<double>          Rc = Rr;            // column-major, sorted
-      * \endcode
-      */
-    const QRMatrixType& matrixR() const { return m_R; }
-    
-    /** \returns the number of non linearly dependent columns as determined by the pivoting threshold.
-      *
-      * \sa setPivotThreshold()
-      */
-    Index rank() const
-    {
-      eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-      return m_nonzeropivots; 
-    }
-    
-    /** \returns an expression of the matrix Q as products of sparse Householder reflectors.
-    * The common usage of this function is to apply it to a dense matrix or vector
-    * \code
-    * VectorXd B1, B2;
-    * // Initialize B1
-    * B2 = matrixQ() * B1;
-    * \endcode
-    *
-    * To get a plain SparseMatrix representation of Q:
-    * \code
-    * SparseMatrix<double> Q;
-    * Q = SparseQR<SparseMatrix<double> >(A).matrixQ();
-    * \endcode
-    * Internally, this call simply performs a sparse product between the matrix Q
-    * and a sparse identity matrix. However, due to the fact that the sparse
-    * reflectors are stored unsorted, two transpositions are needed to sort
-    * them before performing the product.
-    */
-    SparseQRMatrixQReturnType<SparseQR> matrixQ() const 
-    { return SparseQRMatrixQReturnType<SparseQR>(*this); }
-    
-    /** \returns a const reference to the column permutation P that was applied to A such that A*P = Q*R
-      * It is the combination of the fill-in reducing permutation and numerical column pivoting.
-      */
-    const PermutationType& colsPermutation() const
-    { 
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_outputPerm_c;
-    }
-    
-    /** \returns A string describing the type of error.
-      * This method is provided to ease debugging, not to handle errors.
-      */
-    std::string lastErrorMessage() const { return m_lastError; }
-    
-    /** \internal */
-    template<typename Rhs, typename Dest>
-    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &dest) const
-    {
-      eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-      eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-
-      Index rank = this->rank();
-      
-      // Compute Q^* * b;
-      typename Dest::PlainObject y, b;
-      y = this->matrixQ().adjoint() * B;
-      b = y;
-      
-      // Solve with the triangular matrix R
-      y.resize((std::max<Index>)(cols(),y.rows()),y.cols());
-      y.topRows(rank) = this->matrixR().topLeftCorner(rank, rank).template triangularView<Upper>().solve(b.topRows(rank));
-      y.bottomRows(y.rows()-rank).setZero();
-      
-      // Apply the column permutation
-      if (m_perm_c.size())  dest = colsPermutation() * y.topRows(cols());
-      else                  dest = y.topRows(cols());
-      
-      m_info = Success;
-      return true;
-    }
-
-    /** Sets the threshold that is used to determine linearly dependent columns during the factorization.
-      *
-      * In practice, if during the factorization the norm of the column that has to be eliminated is below
-      * this threshold, then the entire column is treated as zero, and it is moved at the end.
-      */
-    void setPivotThreshold(const RealScalar& threshold)
-    {
-      m_useDefaultThreshold = false;
-      m_threshold = threshold;
-    }
-    
-    /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const Solve<SparseQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-      eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-      return Solve<SparseQR, Rhs>(*this, B.derived());
-    }
-    template<typename Rhs>
-    inline const Solve<SparseQR, Rhs> solve(const SparseMatrixBase<Rhs>& B) const
-    {
-          eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
-          eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-          return Solve<SparseQR, Rhs>(*this, B.derived());
-    }
-    
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was successful,
-      *          \c NumericalIssue if the QR factorization reports a numerical problem
-      *          \c InvalidInput if the input matrix is invalid
-      *
-      * \sa iparm()          
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      return m_info;
-    }
-
-
-    /** \internal */
-    inline void _sort_matrix_Q()
-    {
-      if(this->m_isQSorted) return;
-      // The matrix Q is sorted during the transposition
-      SparseMatrix<Scalar, RowMajor, Index> mQrm(this->m_Q);
-      this->m_Q = mQrm;
-      this->m_isQSorted = true;
-    }
-
-    
-  protected:
-    bool m_analysisIsok;
-    bool m_factorizationIsok;
-    mutable ComputationInfo m_info;
-    std::string m_lastError;
-    QRMatrixType m_pmat;            // Temporary matrix
-    QRMatrixType m_R;               // The triangular factor matrix
-    QRMatrixType m_Q;               // The orthogonal reflectors
-    ScalarVector m_hcoeffs;         // The Householder coefficients
-    PermutationType m_perm_c;       // Fill-reducing  Column  permutation
-    PermutationType m_pivotperm;    // The permutation for rank revealing
-    PermutationType m_outputPerm_c; // The final column permutation
-    RealScalar m_threshold;         // Threshold to determine null Householder reflections
-    bool m_useDefaultThreshold;     // Use default threshold
-    Index m_nonzeropivots;          // Number of non zero pivots found
-    IndexVector m_etree;            // Column elimination tree
-    IndexVector m_firstRowElt;      // First element in each row
-    bool m_isQSorted;               // whether Q is sorted or not
-    bool m_isEtreeOk;               // whether the elimination tree match the initial input matrix
-    
-    template <typename, typename > friend struct SparseQR_QProduct;
-    
-};
-
-/** \brief Preprocessing step of a QR factorization 
-  * 
-  * \warning The matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
-  * 
-  * In this step, the fill-reducing permutation is computed and applied to the columns of A
-  * and the column elimination tree is computed as well. Only the sparsity pattern of \a mat is exploited.
-  * 
-  * \note In this step it is assumed that there is no empty row in the matrix \a mat.
-  */
-template <typename MatrixType, typename OrderingType>
-void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
-{
-  eigen_assert(mat.isCompressed() && "SparseQR requires a sparse matrix in compressed mode. Call .makeCompressed() before passing it to SparseQR");
-  // Copy to a column major matrix if the input is rowmajor
-  typename internal::conditional<MatrixType::IsRowMajor,QRMatrixType,const MatrixType&>::type matCpy(mat);
-  // Compute the column fill reducing ordering
-  OrderingType ord; 
-  ord(matCpy, m_perm_c); 
-  Index n = mat.cols();
-  Index m = mat.rows();
-  Index diagSize = (std::min)(m,n);
-  
-  if (!m_perm_c.size())
-  {
-    m_perm_c.resize(n);
-    m_perm_c.indices().setLinSpaced(n, 0,StorageIndex(n-1));
-  }
-  
-  // Compute the column elimination tree of the permuted matrix
-  m_outputPerm_c = m_perm_c.inverse();
-  internal::coletree(matCpy, m_etree, m_firstRowElt, m_outputPerm_c.indices().data());
-  m_isEtreeOk = true;
-  
-  m_R.resize(m, n);
-  m_Q.resize(m, diagSize);
-  
-  // Allocate space for nonzero elements: rough estimation
-  m_R.reserve(2*mat.nonZeros()); //FIXME Get a more accurate estimation through symbolic factorization with the etree
-  m_Q.reserve(2*mat.nonZeros());
-  m_hcoeffs.resize(diagSize);
-  m_analysisIsok = true;
-}
-
-/** \brief Performs the numerical QR factorization of the input matrix
-  * 
-  * The function SparseQR::analyzePattern(const MatrixType&) must have been called beforehand with
-  * a matrix having the same sparsity pattern than \a mat.
-  * 
-  * \param mat The sparse column-major matrix
-  */
-template <typename MatrixType, typename OrderingType>
-void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
-{
-  using std::abs;
-  
-  eigen_assert(m_analysisIsok && "analyzePattern() should be called before this step");
-  StorageIndex m = StorageIndex(mat.rows());
-  StorageIndex n = StorageIndex(mat.cols());
-  StorageIndex diagSize = (std::min)(m,n);
-  IndexVector mark((std::max)(m,n)); mark.setConstant(-1);  // Record the visited nodes
-  IndexVector Ridx(n), Qidx(m);                             // Store temporarily the row indexes for the current column of R and Q
-  Index nzcolR, nzcolQ;                                     // Number of nonzero for the current column of R and Q
-  ScalarVector tval(m);                                     // The dense vector used to compute the current column
-  RealScalar pivotThreshold = m_threshold;
-  
-  m_R.setZero();
-  m_Q.setZero();
-  m_pmat = mat;
-  if(!m_isEtreeOk)
-  {
-    m_outputPerm_c = m_perm_c.inverse();
-    internal::coletree(m_pmat, m_etree, m_firstRowElt, m_outputPerm_c.indices().data());
-    m_isEtreeOk = true;
-  }
-
-  m_pmat.uncompress(); // To have the innerNonZeroPtr allocated
-  
-  // Apply the fill-in reducing permutation lazily:
-  {
-    // If the input is row major, copy the original column indices,
-    // otherwise directly use the input matrix
-    // 
-    IndexVector originalOuterIndicesCpy;
-    const StorageIndex *originalOuterIndices = mat.outerIndexPtr();
-    if(MatrixType::IsRowMajor)
-    {
-      originalOuterIndicesCpy = IndexVector::Map(m_pmat.outerIndexPtr(),n+1);
-      originalOuterIndices = originalOuterIndicesCpy.data();
-    }
-    
-    for (int i = 0; i < n; i++)
-    {
-      Index p = m_perm_c.size() ? m_perm_c.indices()(i) : i;
-      m_pmat.outerIndexPtr()[p] = originalOuterIndices[i]; 
-      m_pmat.innerNonZeroPtr()[p] = originalOuterIndices[i+1] - originalOuterIndices[i]; 
-    }
-  }
-  
-  /* Compute the default threshold as in MatLab, see:
-   * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing
-   * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011, Page 8:3 
-   */
-  if(m_useDefaultThreshold) 
-  {
-    RealScalar max2Norm = 0.0;
-    for (int j = 0; j < n; j++) max2Norm = numext::maxi(max2Norm, m_pmat.col(j).norm());
-    if(max2Norm==RealScalar(0))
-      max2Norm = RealScalar(1);
-    pivotThreshold = 20 * (m + n) * max2Norm * NumTraits<RealScalar>::epsilon();
-  }
-  
-  // Initialize the numerical permutation
-  m_pivotperm.setIdentity(n);
-  
-  StorageIndex nonzeroCol = 0; // Record the number of valid pivots
-  m_Q.startVec(0);
-
-  // Left looking rank-revealing QR factorization: compute a column of R and Q at a time
-  for (StorageIndex col = 0; col < n; ++col)
-  {
-    mark.setConstant(-1);
-    m_R.startVec(col);
-    mark(nonzeroCol) = col;
-    Qidx(0) = nonzeroCol;
-    nzcolR = 0; nzcolQ = 1;
-    bool found_diag = nonzeroCol>=m;
-    tval.setZero(); 
-    
-    // Symbolic factorization: find the nonzero locations of the column k of the factors R and Q, i.e.,
-    // all the nodes (with indexes lower than rank) reachable through the column elimination tree (etree) rooted at node k.
-    // Note: if the diagonal entry does not exist, then its contribution must be explicitly added,
-    // thus the trick with found_diag that permits to do one more iteration on the diagonal element if this one has not been found.
-    for (typename QRMatrixType::InnerIterator itp(m_pmat, col); itp || !found_diag; ++itp)
-    {
-      StorageIndex curIdx = nonzeroCol;
-      if(itp) curIdx = StorageIndex(itp.row());
-      if(curIdx == nonzeroCol) found_diag = true;
-      
-      // Get the nonzeros indexes of the current column of R
-      StorageIndex st = m_firstRowElt(curIdx); // The traversal of the etree starts here
-      if (st < 0 )
-      {
-        m_lastError = "Empty row found during numerical factorization";
-        m_info = InvalidInput;
-        return;
-      }
-
-      // Traverse the etree 
-      Index bi = nzcolR;
-      for (; mark(st) != col; st = m_etree(st))
-      {
-        Ridx(nzcolR) = st;  // Add this row to the list,
-        mark(st) = col;     // and mark this row as visited
-        nzcolR++;
-      }
-
-      // Reverse the list to get the topological ordering
-      Index nt = nzcolR-bi;
-      for(Index i = 0; i < nt/2; i++) std::swap(Ridx(bi+i), Ridx(nzcolR-i-1));
-       
-      // Copy the current (curIdx,pcol) value of the input matrix
-      if(itp) tval(curIdx) = itp.value();
-      else    tval(curIdx) = Scalar(0);
-      
-      // Compute the pattern of Q(:,k)
-      if(curIdx > nonzeroCol && mark(curIdx) != col ) 
-      {
-        Qidx(nzcolQ) = curIdx;  // Add this row to the pattern of Q,
-        mark(curIdx) = col;     // and mark it as visited
-        nzcolQ++;
-      }
-    }
-
-    // Browse all the indexes of R(:,col) in reverse order
-    for (Index i = nzcolR-1; i >= 0; i--)
-    {
-      Index curIdx = Ridx(i);
-      
-      // Apply the curIdx-th householder vector to the current column (temporarily stored into tval)
-      Scalar tdot(0);
-      
-      // First compute q' * tval
-      tdot = m_Q.col(curIdx).dot(tval);
-
-      tdot *= m_hcoeffs(curIdx);
-      
-      // Then update tval = tval - q * tau
-      // FIXME: tval -= tdot * m_Q.col(curIdx) should amount to the same (need to check/add support for efficient "dense ?= sparse")
-      for (typename QRMatrixType::InnerIterator itq(m_Q, curIdx); itq; ++itq)
-        tval(itq.row()) -= itq.value() * tdot;
-
-      // Detect fill-in for the current column of Q
-      if(m_etree(Ridx(i)) == nonzeroCol)
-      {
-        for (typename QRMatrixType::InnerIterator itq(m_Q, curIdx); itq; ++itq)
-        {
-          StorageIndex iQ = StorageIndex(itq.row());
-          if (mark(iQ) != col)
-          {
-            Qidx(nzcolQ++) = iQ;  // Add this row to the pattern of Q,
-            mark(iQ) = col;       // and mark it as visited
-          }
-        }
-      }
-    } // End update current column
-    
-    Scalar tau = RealScalar(0);
-    RealScalar beta = 0;
-    
-    if(nonzeroCol < diagSize)
-    {
-      // Compute the Householder reflection that eliminate the current column
-      // FIXME this step should call the Householder module.
-      Scalar c0 = nzcolQ ? tval(Qidx(0)) : Scalar(0);
-      
-      // First, the squared norm of Q((col+1):m, col)
-      RealScalar sqrNorm = 0.;
-      for (Index itq = 1; itq < nzcolQ; ++itq) sqrNorm += numext::abs2(tval(Qidx(itq)));
-      if(sqrNorm == RealScalar(0) && numext::imag(c0) == RealScalar(0))
-      {
-        beta = numext::real(c0);
-        tval(Qidx(0)) = 1;
-      }
-      else
-      {
-        using std::sqrt;
-        beta = sqrt(numext::abs2(c0) + sqrNorm);
-        if(numext::real(c0) >= RealScalar(0))
-          beta = -beta;
-        tval(Qidx(0)) = 1;
-        for (Index itq = 1; itq < nzcolQ; ++itq)
-          tval(Qidx(itq)) /= (c0 - beta);
-        tau = numext::conj((beta-c0) / beta);
-          
-      }
-    }
-
-    // Insert values in R
-    for (Index  i = nzcolR-1; i >= 0; i--)
-    {
-      Index curIdx = Ridx(i);
-      if(curIdx < nonzeroCol) 
-      {
-        m_R.insertBackByOuterInnerUnordered(col, curIdx) = tval(curIdx);
-        tval(curIdx) = Scalar(0.);
-      }
-    }
-
-    if(nonzeroCol < diagSize && abs(beta) >= pivotThreshold)
-    {
-      m_R.insertBackByOuterInner(col, nonzeroCol) = beta;
-      // The householder coefficient
-      m_hcoeffs(nonzeroCol) = tau;
-      // Record the householder reflections
-      for (Index itq = 0; itq < nzcolQ; ++itq)
-      {
-        Index iQ = Qidx(itq);
-        m_Q.insertBackByOuterInnerUnordered(nonzeroCol,iQ) = tval(iQ);
-        tval(iQ) = Scalar(0.);
-      }
-      nonzeroCol++;
-      if(nonzeroCol<diagSize)
-        m_Q.startVec(nonzeroCol);
-    }
-    else
-    {
-      // Zero pivot found: move implicitly this column to the end
-      for (Index j = nonzeroCol; j < n-1; j++) 
-        std::swap(m_pivotperm.indices()(j), m_pivotperm.indices()[j+1]);
-      
-      // Recompute the column elimination tree
-      internal::coletree(m_pmat, m_etree, m_firstRowElt, m_pivotperm.indices().data());
-      m_isEtreeOk = false;
-    }
-  }
-  
-  m_hcoeffs.tail(diagSize-nonzeroCol).setZero();
-  
-  // Finalize the column pointers of the sparse matrices R and Q
-  m_Q.finalize();
-  m_Q.makeCompressed();
-  m_R.finalize();
-  m_R.makeCompressed();
-  m_isQSorted = false;
-
-  m_nonzeropivots = nonzeroCol;
-  
-  if(nonzeroCol<n)
-  {
-    // Permute the triangular factor to put the 'dead' columns to the end
-    QRMatrixType tempR(m_R);
-    m_R = tempR * m_pivotperm;
-    
-    // Update the column permutation
-    m_outputPerm_c = m_outputPerm_c * m_pivotperm;
-  }
-  
-  m_isInitialized = true; 
-  m_factorizationIsok = true;
-  m_info = Success;
-}
-
-template <typename SparseQRType, typename Derived>
-struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived> >
-{
-  typedef typename SparseQRType::QRMatrixType MatrixType;
-  typedef typename SparseQRType::Scalar Scalar;
-  // Get the references 
-  SparseQR_QProduct(const SparseQRType& qr, const Derived& other, bool transpose) : 
-  m_qr(qr),m_other(other),m_transpose(transpose) {}
-  inline Index rows() const { return m_qr.matrixQ().rows(); }
-  inline Index cols() const { return m_other.cols(); }
-  
-  // Assign to a vector
-  template<typename DesType>
-  void evalTo(DesType& res) const
-  {
-    Index m = m_qr.rows();
-    Index n = m_qr.cols();
-    Index diagSize = (std::min)(m,n);
-    res = m_other;
-    if (m_transpose)
-    {
-      eigen_assert(m_qr.m_Q.rows() == m_other.rows() && "Non conforming object sizes");
-      //Compute res = Q' * other column by column
-      for(Index j = 0; j < res.cols(); j++){
-        for (Index k = 0; k < diagSize; k++)
-        {
-          Scalar tau = Scalar(0);
-          tau = m_qr.m_Q.col(k).dot(res.col(j));
-          if(tau==Scalar(0)) continue;
-          tau = tau * m_qr.m_hcoeffs(k);
-          res.col(j) -= tau * m_qr.m_Q.col(k);
-        }
-      }
-    }
-    else
-    {
-      eigen_assert(m_qr.matrixQ().cols() == m_other.rows() && "Non conforming object sizes");
-
-      res.conservativeResize(rows(), cols());
-
-      // Compute res = Q * other column by column
-      for(Index j = 0; j < res.cols(); j++)
-      {
-        Index start_k = internal::is_identity<Derived>::value ? numext::mini(j,diagSize-1) : diagSize-1;
-        for (Index k = start_k; k >=0; k--)
-        {
-          Scalar tau = Scalar(0);
-          tau = m_qr.m_Q.col(k).dot(res.col(j));
-          if(tau==Scalar(0)) continue;
-          tau = tau * numext::conj(m_qr.m_hcoeffs(k));
-          res.col(j) -= tau * m_qr.m_Q.col(k);
-        }
-      }
-    }
-  }
-  
-  const SparseQRType& m_qr;
-  const Derived& m_other;
-  bool m_transpose; // TODO this actually means adjoint
-};
-
-template<typename SparseQRType>
-struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<SparseQRType> >
-{  
-  typedef typename SparseQRType::Scalar Scalar;
-  typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic
-  };
-  explicit SparseQRMatrixQReturnType(const SparseQRType& qr) : m_qr(qr) {}
-  template<typename Derived>
-  SparseQR_QProduct<SparseQRType, Derived> operator*(const MatrixBase<Derived>& other)
-  {
-    return SparseQR_QProduct<SparseQRType,Derived>(m_qr,other.derived(),false);
-  }
-  // To use for operations with the adjoint of Q
-  SparseQRMatrixQTransposeReturnType<SparseQRType> adjoint() const
-  {
-    return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
-  }
-  inline Index rows() const { return m_qr.rows(); }
-  inline Index cols() const { return m_qr.rows(); }
-  // To use for operations with the transpose of Q FIXME this is the same as adjoint at the moment
-  SparseQRMatrixQTransposeReturnType<SparseQRType> transpose() const
-  {
-    return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
-  }
-  const SparseQRType& m_qr;
-};
-
-// TODO this actually represents the adjoint of Q
-template<typename SparseQRType>
-struct SparseQRMatrixQTransposeReturnType
-{
-  explicit SparseQRMatrixQTransposeReturnType(const SparseQRType& qr) : m_qr(qr) {}
-  template<typename Derived>
-  SparseQR_QProduct<SparseQRType,Derived> operator*(const MatrixBase<Derived>& other)
-  {
-    return SparseQR_QProduct<SparseQRType,Derived>(m_qr,other.derived(), true);
-  }
-  const SparseQRType& m_qr;
-};
-
-namespace internal {
-  
-template<typename SparseQRType>
-struct evaluator_traits<SparseQRMatrixQReturnType<SparseQRType> >
-{
-  typedef typename SparseQRType::MatrixType MatrixType;
-  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
-  typedef SparseShape Shape;
-};
-
-template< typename DstXprType, typename SparseQRType>
-struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Sparse>
-{
-  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
-  typedef typename DstXprType::Scalar Scalar;
-  typedef typename DstXprType::StorageIndex StorageIndex;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
-  {
-    typename DstXprType::PlainObject idMat(src.rows(), src.cols());
-    idMat.setIdentity();
-    // Sort the sparse householder reflectors if needed
-    const_cast<SparseQRType *>(&src.m_qr)->_sort_matrix_Q();
-    dst = SparseQR_QProduct<SparseQRType, DstXprType>(src.m_qr, idMat, false);
-  }
-};
-
-template< typename DstXprType, typename SparseQRType>
-struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Dense>
-{
-  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
-  typedef typename DstXprType::Scalar Scalar;
-  typedef typename DstXprType::StorageIndex StorageIndex;
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
-  {
-    dst = src.m_qr.matrixQ() * DstXprType::Identity(src.m_qr.rows(), src.m_qr.rows());
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif