casadi 3.6.4__cp36-none-win_amd64.whl → 3.6.6__cp36-none-win_amd64.whl

casadi/include/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h

@@ -1,904 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// 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_SELFADJOINTEIGENSOLVER_H
-#define EIGEN_SELFADJOINTEIGENSOLVER_H
-
-#include "./Tridiagonalization.h"
-
-namespace Eigen { 
-
-template<typename _MatrixType>
-class GeneralizedSelfAdjointEigenSolver;
-
-namespace internal {
-template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
-
-template<typename MatrixType, typename DiagType, typename SubDiagType>
-EIGEN_DEVICE_FUNC
-ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
-}
-
-/** \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  *
-  * \class SelfAdjointEigenSolver
-  *
-  * \brief Computes eigenvalues and eigenvectors of selfadjoint matrices
-  *
-  * \tparam _MatrixType the type of the matrix of which we are computing the
-  * eigendecomposition; this is expected to be an instantiation of the Matrix
-  * class template.
-  *
-  * A matrix \f$ A \f$ is selfadjoint if it equals its adjoint. For real
-  * matrices, this means that the matrix is symmetric: it equals its
-  * transpose. This class computes the eigenvalues and eigenvectors of a
-  * selfadjoint matrix. These are the scalars \f$ \lambda \f$ and vectors
-  * \f$ v \f$ such that \f$ Av = \lambda v \f$.  The eigenvalues of a
-  * selfadjoint matrix are always real. If \f$ D \f$ is a diagonal matrix with
-  * the eigenvalues on the diagonal, and \f$ V \f$ is a matrix with the
-  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$. This is called the
-  * eigendecomposition.
-  *
-  * For a selfadjoint matrix, \f$ V \f$ is unitary, meaning its inverse is equal
-  * to its adjoint, \f$ V^{-1} = V^{\dagger} \f$. If \f$ A \f$ is real, then
-  * \f$ V \f$ is also real and therefore orthogonal, meaning its inverse is
-  * equal to its transpose, \f$ V^{-1} = V^T \f$.
-  *
-  * The algorithm exploits the fact that the matrix is selfadjoint, making it
-  * faster and more accurate than the general purpose eigenvalue algorithms
-  * implemented in EigenSolver and ComplexEigenSolver.
-  *
-  * Only the \b lower \b triangular \b part of the input matrix is referenced.
-  *
-  * Call the function compute() to compute the eigenvalues and eigenvectors of
-  * a given matrix. Alternatively, you can use the
-  * SelfAdjointEigenSolver(const MatrixType&, int) constructor which computes
-  * the eigenvalues and eigenvectors at construction time. Once the eigenvalue
-  * and eigenvectors are computed, they can be retrieved with the eigenvalues()
-  * and eigenvectors() functions.
-  *
-  * The documentation for SelfAdjointEigenSolver(const MatrixType&, int)
-  * contains an example of the typical use of this class.
-  *
-  * To solve the \em generalized eigenvalue problem \f$ Av = \lambda Bv \f$ and
-  * the likes, see the class GeneralizedSelfAdjointEigenSolver.
-  *
-  * \sa MatrixBase::eigenvalues(), class EigenSolver, class ComplexEigenSolver
-  */
-template<typename _MatrixType> class SelfAdjointEigenSolver
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    enum {
-      Size = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    
-    /** \brief Scalar type for matrices of type \p _MatrixType. */
-    typedef typename MatrixType::Scalar Scalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    
-    typedef Matrix<Scalar,Size,Size,ColMajor,MaxColsAtCompileTime,MaxColsAtCompileTime> EigenvectorsType;
-
-    /** \brief Real scalar type for \p _MatrixType.
-      *
-      * This is just \c Scalar if #Scalar is real (e.g., \c float or
-      * \c double), and the type of the real part of \c Scalar if #Scalar is
-      * complex.
-      */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    
-    friend struct internal::direct_selfadjoint_eigenvalues<SelfAdjointEigenSolver,Size,NumTraits<Scalar>::IsComplex>;
-
-    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
-      *
-      * This is a column vector with entries of type #RealScalar.
-      * The length of the vector is the size of \p _MatrixType.
-      */
-    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
-    typedef Tridiagonalization<MatrixType> TridiagonalizationType;
-    typedef typename TridiagonalizationType::SubDiagonalType SubDiagonalType;
-
-    /** \brief Default constructor for fixed-size matrices.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via compute(). This constructor
-      * can only be used if \p _MatrixType is a fixed-size matrix; use
-      * SelfAdjointEigenSolver(Index) for dynamic-size matrices.
-      *
-      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
-      */
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver()
-        : m_eivec(),
-          m_eivalues(),
-          m_subdiag(),
-          m_hcoeffs(),
-          m_info(InvalidInput),
-          m_isInitialized(false),
-          m_eigenvectorsOk(false)
-    { }
-
-    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
-      *
-      * \param [in]  size  Positive integer, size of the matrix whose
-      * eigenvalues and eigenvectors will be computed.
-      *
-      * This constructor is useful for dynamic-size matrices, when the user
-      * intends to perform decompositions via compute(). The \p size
-      * parameter is only used as a hint. It is not an error to give a wrong
-      * \p size, but it may impair performance.
-      *
-      * \sa compute() for an example
-      */
-    EIGEN_DEVICE_FUNC
-    explicit SelfAdjointEigenSolver(Index size)
-        : m_eivec(size, size),
-          m_eivalues(size),
-          m_subdiag(size > 1 ? size - 1 : 1),
-          m_hcoeffs(size > 1 ? size - 1 : 1),
-          m_isInitialized(false),
-          m_eigenvectorsOk(false)
-    {}
-
-    /** \brief Constructor; computes eigendecomposition of given matrix.
-      *
-      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
-      *    be computed. Only the lower triangular part of the matrix is referenced.
-      * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-      *
-      * This constructor calls compute(const MatrixType&, int) to compute the
-      * eigenvalues of the matrix \p matrix. The eigenvectors are computed if
-      * \p options equals #ComputeEigenvectors.
-      *
-      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.out
-      *
-      * \sa compute(const MatrixType&, int)
-      */
-    template<typename InputType>
-    EIGEN_DEVICE_FUNC
-    explicit SelfAdjointEigenSolver(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols()),
-        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
-        m_hcoeffs(matrix.cols() > 1 ? matrix.cols() - 1 : 1),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false)
-    {
-      compute(matrix.derived(), options);
-    }
-
-    /** \brief Computes eigendecomposition of given matrix.
-      *
-      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
-      *    be computed. Only the lower triangular part of the matrix is referenced.
-      * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-      * \returns    Reference to \c *this
-      *
-      * This function computes the eigenvalues of \p matrix.  The eigenvalues()
-      * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
-      * then the eigenvectors are also computed and can be retrieved by
-      * calling eigenvectors().
-      *
-      * This implementation uses a symmetric QR algorithm. The matrix is first
-      * reduced to tridiagonal form using the Tridiagonalization class. The
-      * tridiagonal matrix is then brought to diagonal form with implicit
-      * symmetric QR steps with Wilkinson shift. Details can be found in
-      * Section 8.3 of Golub \& Van Loan, <i>%Matrix Computations</i>.
-      *
-      * The cost of the computation is about \f$ 9n^3 \f$ if the eigenvectors
-      * are required and \f$ 4n^3/3 \f$ if they are not required.
-      *
-      * This method reuses the memory in the SelfAdjointEigenSolver object that
-      * was allocated when the object was constructed, if the size of the
-      * matrix does not change.
-      *
-      * Example: \include SelfAdjointEigenSolver_compute_MatrixType.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType.out
-      *
-      * \sa SelfAdjointEigenSolver(const MatrixType&, int)
-      */
-    template<typename InputType>
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver& compute(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors);
-    
-    /** \brief Computes eigendecomposition of given matrix using a closed-form algorithm
-      *
-      * This is a variant of compute(const MatrixType&, int options) which
-      * directly solves the underlying polynomial equation.
-      * 
-      * Currently only 2x2 and 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
-      * 
-      * This method is usually significantly faster than the QR iterative algorithm
-      * but it might also be less accurate. It is also worth noting that
-      * for 3x3 matrices it involves trigonometric operations which are
-      * not necessarily available for all scalar types.
-      * 
-      * For the 3x3 case, we observed the following worst case relative error regarding the eigenvalues:
-      *   - double: 1e-8
-      *   - float:  1e-3
-      *
-      * \sa compute(const MatrixType&, int options)
-      */
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver& computeDirect(const MatrixType& matrix, int options = ComputeEigenvectors);
-
-    /**
-      *\brief Computes the eigen decomposition from a tridiagonal symmetric matrix
-      *
-      * \param[in] diag The vector containing the diagonal of the matrix.
-      * \param[in] subdiag The subdiagonal of the matrix.
-      * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-      * \returns Reference to \c *this
-      *
-      * This function assumes that the matrix has been reduced to tridiagonal form.
-      *
-      * \sa compute(const MatrixType&, int) for more information
-      */
-    SelfAdjointEigenSolver& computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options=ComputeEigenvectors);
-
-    /** \brief Returns the eigenvectors of given matrix.
-      *
-      * \returns  A const reference to the matrix whose columns are the eigenvectors.
-      *
-      * \pre The eigenvectors have been computed before.
-      *
-      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-      * eigenvectors are normalized to have (Euclidean) norm equal to one. If
-      * this object was used to solve the eigenproblem for the selfadjoint
-      * matrix \f$ A \f$, then the matrix returned by this function is the
-      * matrix \f$ V \f$ in the eigendecomposition \f$ A = V D V^{-1} \f$.
-      *
-      * For a selfadjoint matrix, \f$ V \f$ is unitary, meaning its inverse is equal
-      * to its adjoint, \f$ V^{-1} = V^{\dagger} \f$. If \f$ A \f$ is real, then
-      * \f$ V \f$ is also real and therefore orthogonal, meaning its inverse is
-      * equal to its transpose, \f$ V^{-1} = V^T \f$.
-      *
-      * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
-      *
-      * \sa eigenvalues()
-      */
-    EIGEN_DEVICE_FUNC
-    const EigenvectorsType& eigenvectors() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec;
-    }
-
-    /** \brief Returns the eigenvalues of given matrix.
-      *
-      * \returns A const reference to the column vector containing the eigenvalues.
-      *
-      * \pre The eigenvalues have been computed before.
-      *
-      * The eigenvalues are repeated according to their algebraic multiplicity,
-      * so there are as many eigenvalues as rows in the matrix. The eigenvalues
-      * are sorted in increasing order.
-      *
-      * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
-      *
-      * \sa eigenvectors(), MatrixBase::eigenvalues()
-      */
-    EIGEN_DEVICE_FUNC
-    const RealVectorType& eigenvalues() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      return m_eivalues;
-    }
-
-    /** \brief Computes the positive-definite square root of the matrix.
-      *
-      * \returns the positive-definite square root of the matrix
-      *
-      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-      * have been computed before.
-      *
-      * The square root of a positive-definite matrix \f$ A \f$ is the
-      * positive-definite matrix whose square equals \f$ A \f$. This function
-      * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
-      * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
-      *
-      * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
-      *
-      * \sa operatorInverseSqrt(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
-      */
-    EIGEN_DEVICE_FUNC
-    MatrixType operatorSqrt() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-    }
-
-    /** \brief Computes the inverse square root of the matrix.
-      *
-      * \returns the inverse positive-definite square root of the matrix
-      *
-      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-      * have been computed before.
-      *
-      * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
-      * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
-      * cheaper than first computing the square root with operatorSqrt() and
-      * then its inverse with MatrixBase::inverse().
-      *
-      * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
-      * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
-      *
-      * \sa operatorSqrt(), MatrixBase::inverse(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
-      */
-    EIGEN_DEVICE_FUNC
-    MatrixType operatorInverseSqrt() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-      return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-    }
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
-      */
-    EIGEN_DEVICE_FUNC
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-      return m_info;
-    }
-
-    /** \brief Maximum number of iterations.
-      *
-      * The algorithm terminates if it does not converge within m_maxIterations * n iterations, where n
-      * denotes the size of the matrix. This value is currently set to 30 (copied from LAPACK).
-      */
-    static const int m_maxIterations = 30;
-
-  protected:
-    static EIGEN_DEVICE_FUNC
-    void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
-    
-    EigenvectorsType m_eivec;
-    RealVectorType m_eivalues;
-    typename TridiagonalizationType::SubDiagonalType m_subdiag;
-    typename TridiagonalizationType::CoeffVectorType m_hcoeffs;
-    ComputationInfo m_info;
-    bool m_isInitialized;
-    bool m_eigenvectorsOk;
-};
-
-namespace internal {
-/** \internal
-  *
-  * \eigenvalues_module \ingroup Eigenvalues_Module
-  *
-  * Performs a QR step on a tridiagonal symmetric matrix represented as a
-  * pair of two vectors \a diag and \a subdiag.
-  *
-  * \param diag the diagonal part of the input selfadjoint tridiagonal matrix
-  * \param subdiag the sub-diagonal part of the input selfadjoint tridiagonal matrix
-  * \param start starting index of the submatrix to work on
-  * \param end last+1 index of the submatrix to work on
-  * \param matrixQ pointer to the column-major matrix holding the eigenvectors, can be 0
-  * \param n size of the input matrix
-  *
-  * For compilation efficiency reasons, this procedure does not use eigen expression
-  * for its arguments.
-  *
-  * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
-  * "implicit symmetric QR step with Wilkinson shift"
-  */
-template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
-EIGEN_DEVICE_FUNC
-static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
-}
-
-template<typename MatrixType>
-template<typename InputType>
-EIGEN_DEVICE_FUNC
-SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::compute(const EigenBase<InputType>& a_matrix, int options)
-{
-  check_template_parameters();
-  
-  const InputType &matrix(a_matrix.derived());
-  
-  EIGEN_USING_STD(abs);
-  eigen_assert(matrix.cols() == matrix.rows());
-  eigen_assert((options&~(EigVecMask|GenEigMask))==0
-          && (options&EigVecMask)!=EigVecMask
-          && "invalid option parameter");
-  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-  Index n = matrix.cols();
-  m_eivalues.resize(n,1);
-
-  if(n==1)
-  {
-    m_eivec = matrix;
-    m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0));
-    if(computeEigenvectors)
-      m_eivec.setOnes(n,n);
-    m_info = Success;
-    m_isInitialized = true;
-    m_eigenvectorsOk = computeEigenvectors;
-    return *this;
-  }
-
-  // declare some aliases
-  RealVectorType& diag = m_eivalues;
-  EigenvectorsType& mat = m_eivec;
-
-  // map the matrix coefficients to [-1:1] to avoid over- and underflow.
-  mat = matrix.template triangularView<Lower>();
-  RealScalar scale = mat.cwiseAbs().maxCoeff();
-  if(scale==RealScalar(0)) scale = RealScalar(1);
-  mat.template triangularView<Lower>() /= scale;
-  m_subdiag.resize(n-1);
-  m_hcoeffs.resize(n-1);
-  internal::tridiagonalization_inplace(mat, diag, m_subdiag, m_hcoeffs, computeEigenvectors);
-
-  m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
-  
-  // scale back the eigen values
-  m_eivalues *= scale;
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-  return *this;
-}
-
-template<typename MatrixType>
-SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options)
-{
-  //TODO : Add an option to scale the values beforehand
-  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-
-  m_eivalues = diag;
-  m_subdiag = subdiag;
-  if (computeEigenvectors)
-  {
-    m_eivec.setIdentity(diag.size(), diag.size());
-  }
-  m_info = internal::computeFromTridiagonal_impl(m_eivalues, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = computeEigenvectors;
-  return *this;
-}
-
-namespace internal {
-/**
-  * \internal
-  * \brief Compute the eigendecomposition from a tridiagonal matrix
-  *
-  * \param[in,out] diag : On input, the diagonal of the matrix, on output the eigenvalues
-  * \param[in,out] subdiag : The subdiagonal part of the matrix (entries are modified during the decomposition)
-  * \param[in] maxIterations : the maximum number of iterations
-  * \param[in] computeEigenvectors : whether the eigenvectors have to be computed or not
-  * \param[out] eivec : The matrix to store the eigenvectors if computeEigenvectors==true. Must be allocated on input.
-  * \returns \c Success or \c NoConvergence
-  */
-template<typename MatrixType, typename DiagType, typename SubDiagType>
-EIGEN_DEVICE_FUNC
-ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
-{
-  ComputationInfo info;
-  typedef typename MatrixType::Scalar Scalar;
-
-  Index n = diag.size();
-  Index end = n-1;
-  Index start = 0;
-  Index iter = 0; // total number of iterations
-  
-  typedef typename DiagType::RealScalar RealScalar;
-  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
-  const RealScalar precision_inv = RealScalar(1)/NumTraits<RealScalar>::epsilon();
-  while (end>0)
-  {
-    for (Index i = start; i<end; ++i) {
-      if (numext::abs(subdiag[i]) < considerAsZero) {
-        subdiag[i] = RealScalar(0);
-      } else {
-        // abs(subdiag[i]) <= epsilon * sqrt(abs(diag[i]) + abs(diag[i+1]))
-        // Scaled to prevent underflows.
-        const RealScalar scaled_subdiag = precision_inv * subdiag[i];
-        if (scaled_subdiag * scaled_subdiag <= (numext::abs(diag[i])+numext::abs(diag[i+1]))) {
-          subdiag[i] = RealScalar(0);
-        }
-      }
-    }
-
-    // find the largest unreduced block at the end of the matrix.
-    while (end>0 && subdiag[end-1]==RealScalar(0))
-    {
-      end--;
-    }
-    if (end<=0)
-      break;
-
-    // if we spent too many iterations, we give up
-    iter++;
-    if(iter > maxIterations * n) break;
-
-    start = end - 1;
-    while (start>0 && subdiag[start-1]!=0)
-      start--;
-
-    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), subdiag.data(), start, end, computeEigenvectors ? eivec.data() : (Scalar*)0, n);
-  }
-  if (iter <= maxIterations * n)
-    info = Success;
-  else
-    info = NoConvergence;
-
-  // Sort eigenvalues and corresponding vectors.
-  // TODO make the sort optional ?
-  // TODO use a better sort algorithm !!
-  if (info == Success)
-  {
-    for (Index i = 0; i < n-1; ++i)
-    {
-      Index k;
-      diag.segment(i,n-i).minCoeff(&k);
-      if (k > 0)
-      {
-        numext::swap(diag[i], diag[k+i]);
-        if(computeEigenvectors)
-          eivec.col(i).swap(eivec.col(k+i));
-      }
-    }
-  }
-  return info;
-}
-  
-template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues
-{
-  EIGEN_DEVICE_FUNC
-  static inline void run(SolverType& eig, const typename SolverType::MatrixType& A, int options)
-  { eig.compute(A,options); }
-};
-
-template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3,false>
-{
-  typedef typename SolverType::MatrixType MatrixType;
-  typedef typename SolverType::RealVectorType VectorType;
-  typedef typename SolverType::Scalar Scalar;
-  typedef typename SolverType::EigenvectorsType EigenvectorsType;
-  
-
-  /** \internal
-   * Computes the roots of the characteristic polynomial of \a m.
-   * For numerical stability m.trace() should be near zero and to avoid over- or underflow m should be normalized.
-   */
-  EIGEN_DEVICE_FUNC
-  static inline void computeRoots(const MatrixType& m, VectorType& roots)
-  {
-    EIGEN_USING_STD(sqrt)
-    EIGEN_USING_STD(atan2)
-    EIGEN_USING_STD(cos)
-    EIGEN_USING_STD(sin)
-    const Scalar s_inv3 = Scalar(1)/Scalar(3);
-    const Scalar s_sqrt3 = sqrt(Scalar(3));
-
-    // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0.  The
-    // eigenvalues are the roots to this equation, all guaranteed to be
-    // real-valued, because the matrix is symmetric.
-    Scalar c0 = m(0,0)*m(1,1)*m(2,2) + Scalar(2)*m(1,0)*m(2,0)*m(2,1) - m(0,0)*m(2,1)*m(2,1) - m(1,1)*m(2,0)*m(2,0) - m(2,2)*m(1,0)*m(1,0);
-    Scalar c1 = m(0,0)*m(1,1) - m(1,0)*m(1,0) + m(0,0)*m(2,2) - m(2,0)*m(2,0) + m(1,1)*m(2,2) - m(2,1)*m(2,1);
-    Scalar c2 = m(0,0) + m(1,1) + m(2,2);
-
-    // Construct the parameters used in classifying the roots of the equation
-    // and in solving the equation for the roots in closed form.
-    Scalar c2_over_3 = c2*s_inv3;
-    Scalar a_over_3 = (c2*c2_over_3 - c1)*s_inv3;
-    a_over_3 = numext::maxi(a_over_3, Scalar(0));
-
-    Scalar half_b = Scalar(0.5)*(c0 + c2_over_3*(Scalar(2)*c2_over_3*c2_over_3 - c1));
-
-    Scalar q = a_over_3*a_over_3*a_over_3 - half_b*half_b;
-    q = numext::maxi(q, Scalar(0));
-
-    // Compute the eigenvalues by solving for the roots of the polynomial.
-    Scalar rho = sqrt(a_over_3);
-    Scalar theta = atan2(sqrt(q),half_b)*s_inv3;  // since sqrt(q) > 0, atan2 is in [0, pi] and theta is in [0, pi/3]
-    Scalar cos_theta = cos(theta);
-    Scalar sin_theta = sin(theta);
-    // roots are already sorted, since cos is monotonically decreasing on [0, pi]
-    roots(0) = c2_over_3 - rho*(cos_theta + s_sqrt3*sin_theta); // == 2*rho*cos(theta+2pi/3)
-    roots(1) = c2_over_3 - rho*(cos_theta - s_sqrt3*sin_theta); // == 2*rho*cos(theta+ pi/3)
-    roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta;
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
-  {
-    EIGEN_USING_STD(abs);
-    EIGEN_USING_STD(sqrt);
-    Index i0;
-    // Find non-zero column i0 (by construction, there must exist a non zero coefficient on the diagonal):
-    mat.diagonal().cwiseAbs().maxCoeff(&i0);
-    // mat.col(i0) is a good candidate for an orthogonal vector to the current eigenvector,
-    // so let's save it:
-    representative = mat.col(i0);
-    Scalar n0, n1;
-    VectorType c0, c1;
-    n0 = (c0 = representative.cross(mat.col((i0+1)%3))).squaredNorm();
-    n1 = (c1 = representative.cross(mat.col((i0+2)%3))).squaredNorm();
-    if(n0>n1) res = c0/sqrt(n0);
-    else      res = c1/sqrt(n1);
-
-    return true;
-  }
-
-  EIGEN_DEVICE_FUNC
-  static inline void run(SolverType& solver, const MatrixType& mat, int options)
-  {
-    eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows());
-    eigen_assert((options&~(EigVecMask|GenEigMask))==0
-            && (options&EigVecMask)!=EigVecMask
-            && "invalid option parameter");
-    bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-    
-    EigenvectorsType& eivecs = solver.m_eivec;
-    VectorType& eivals = solver.m_eivalues;
-  
-    // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
-    Scalar shift = mat.trace() / Scalar(3);
-    // TODO Avoid this copy. Currently it is necessary to suppress bogus values when determining maxCoeff and for computing the eigenvectors later
-    MatrixType scaledMat = mat.template selfadjointView<Lower>();
-    scaledMat.diagonal().array() -= shift;
-    Scalar scale = scaledMat.cwiseAbs().maxCoeff();
-    if(scale > 0) scaledMat /= scale;   // TODO for scale==0 we could save the remaining operations
-
-    // compute the eigenvalues
-    computeRoots(scaledMat,eivals);
-
-    // compute the eigenvectors
-    if(computeEigenvectors)
-    {
-      if((eivals(2)-eivals(0))<=Eigen::NumTraits<Scalar>::epsilon())
-      {
-        // All three eigenvalues are numerically the same
-        eivecs.setIdentity();
-      }
-      else
-      {
-        MatrixType tmp;
-        tmp = scaledMat;
-
-        // Compute the eigenvector of the most distinct eigenvalue
-        Scalar d0 = eivals(2) - eivals(1);
-        Scalar d1 = eivals(1) - eivals(0);
-        Index k(0), l(2);
-        if(d0 > d1)
-        {
-          numext::swap(k,l);
-          d0 = d1;
-        }
-
-        // Compute the eigenvector of index k
-        {
-          tmp.diagonal().array () -= eivals(k);
-          // By construction, 'tmp' is of rank 2, and its kernel corresponds to the respective eigenvector.
-          extract_kernel(tmp, eivecs.col(k), eivecs.col(l));
-        }
-
-        // Compute eigenvector of index l
-        if(d0<=2*Eigen::NumTraits<Scalar>::epsilon()*d1)
-        {
-          // If d0 is too small, then the two other eigenvalues are numerically the same,
-          // and thus we only have to ortho-normalize the near orthogonal vector we saved above.
-          eivecs.col(l) -= eivecs.col(k).dot(eivecs.col(l))*eivecs.col(l);
-          eivecs.col(l).normalize();
-        }
-        else
-        {
-          tmp = scaledMat;
-          tmp.diagonal().array () -= eivals(l);
-
-          VectorType dummy;
-          extract_kernel(tmp, eivecs.col(l), dummy);
-        }
-
-        // Compute last eigenvector from the other two
-        eivecs.col(1) = eivecs.col(2).cross(eivecs.col(0)).normalized();
-      }
-    }
-
-    // Rescale back to the original size.
-    eivals *= scale;
-    eivals.array() += shift;
-    
-    solver.m_info = Success;
-    solver.m_isInitialized = true;
-    solver.m_eigenvectorsOk = computeEigenvectors;
-  }
-};
-
-// 2x2 direct eigenvalues decomposition, code from Hauke Heibel
-template<typename SolverType> 
-struct direct_selfadjoint_eigenvalues<SolverType,2,false>
-{
-  typedef typename SolverType::MatrixType MatrixType;
-  typedef typename SolverType::RealVectorType VectorType;
-  typedef typename SolverType::Scalar Scalar;
-  typedef typename SolverType::EigenvectorsType EigenvectorsType;
-  
-  EIGEN_DEVICE_FUNC
-  static inline void computeRoots(const MatrixType& m, VectorType& roots)
-  {
-    EIGEN_USING_STD(sqrt);
-    const Scalar t0 = Scalar(0.5) * sqrt( numext::abs2(m(0,0)-m(1,1)) + Scalar(4)*numext::abs2(m(1,0)));
-    const Scalar t1 = Scalar(0.5) * (m(0,0) + m(1,1));
-    roots(0) = t1 - t0;
-    roots(1) = t1 + t0;
-  }
-  
-  EIGEN_DEVICE_FUNC
-  static inline void run(SolverType& solver, const MatrixType& mat, int options)
-  {
-    EIGEN_USING_STD(sqrt);
-    EIGEN_USING_STD(abs);
-    
-    eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
-    eigen_assert((options&~(EigVecMask|GenEigMask))==0
-            && (options&EigVecMask)!=EigVecMask
-            && "invalid option parameter");
-    bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
-    
-    EigenvectorsType& eivecs = solver.m_eivec;
-    VectorType& eivals = solver.m_eivalues;
-  
-    // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
-    Scalar shift = mat.trace() / Scalar(2);
-    MatrixType scaledMat = mat;
-    scaledMat.coeffRef(0,1) = mat.coeff(1,0);
-    scaledMat.diagonal().array() -= shift;
-    Scalar scale = scaledMat.cwiseAbs().maxCoeff();
-    if(scale > Scalar(0))
-      scaledMat /= scale;
-
-    // Compute the eigenvalues
-    computeRoots(scaledMat,eivals);
-
-    // compute the eigen vectors
-    if(computeEigenvectors)
-    {
-      if((eivals(1)-eivals(0))<=abs(eivals(1))*Eigen::NumTraits<Scalar>::epsilon())
-      {
-        eivecs.setIdentity();
-      }
-      else
-      {
-        scaledMat.diagonal().array () -= eivals(1);
-        Scalar a2 = numext::abs2(scaledMat(0,0));
-        Scalar c2 = numext::abs2(scaledMat(1,1));
-        Scalar b2 = numext::abs2(scaledMat(1,0));
-        if(a2>c2)
-        {
-          eivecs.col(1) << -scaledMat(1,0), scaledMat(0,0);
-          eivecs.col(1) /= sqrt(a2+b2);
-        }
-        else
-        {
-          eivecs.col(1) << -scaledMat(1,1), scaledMat(1,0);
-          eivecs.col(1) /= sqrt(c2+b2);
-        }
-
-        eivecs.col(0) << eivecs.col(1).unitOrthogonal();
-      }
-    }
-
-    // Rescale back to the original size.
-    eivals *= scale;
-    eivals.array() += shift;
-
-    solver.m_info = Success;
-    solver.m_isInitialized = true;
-    solver.m_eigenvectorsOk = computeEigenvectors;
-  }
-};
-
-}
-
-template<typename MatrixType>
-EIGEN_DEVICE_FUNC
-SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::computeDirect(const MatrixType& matrix, int options)
-{
-  internal::direct_selfadjoint_eigenvalues<SelfAdjointEigenSolver,Size,NumTraits<Scalar>::IsComplex>::run(*this,matrix,options);
-  return *this;
-}
-
-namespace internal {
-
-// Francis implicit QR step.
-template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
-EIGEN_DEVICE_FUNC
-static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
-{
-  // Wilkinson Shift.
-  RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
-  RealScalar e = subdiag[end-1];
-  // Note that thanks to scaling, e^2 or td^2 cannot overflow, however they can still
-  // underflow thus leading to inf/NaN values when using the following commented code:
-  //   RealScalar e2 = numext::abs2(subdiag[end-1]);
-  //   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
-  // This explain the following, somewhat more complicated, version:
-  RealScalar mu = diag[end];
-  if(td==RealScalar(0)) {
-    mu -= numext::abs(e);
-  } else if (e != RealScalar(0)) {
-    const RealScalar e2 = numext::abs2(e);
-    const RealScalar h = numext::hypot(td,e);
-    if(e2 == RealScalar(0)) {
-      mu -= e / ((td + (td>RealScalar(0) ? h : -h)) / e);
-    } else {
-      mu -= e2 / (td + (td>RealScalar(0) ? h : -h)); 
-    }
-  }
-
-  RealScalar x = diag[start] - mu;
-  RealScalar z = subdiag[start];
-  // If z ever becomes zero, the Givens rotation will be the identity and
-  // z will stay zero for all future iterations.
-  for (Index k = start; k < end && z != RealScalar(0); ++k)
-  {
-    JacobiRotation<RealScalar> rot;
-    rot.makeGivens(x, z);
-
-    // do T = G' T G
-    RealScalar sdk = rot.s() * diag[k] + rot.c() * subdiag[k];
-    RealScalar dkp1 = rot.s() * subdiag[k] + rot.c() * diag[k+1];
-
-    diag[k] = rot.c() * (rot.c() * diag[k] - rot.s() * subdiag[k]) - rot.s() * (rot.c() * subdiag[k] - rot.s() * diag[k+1]);
-    diag[k+1] = rot.s() * sdk + rot.c() * dkp1;
-    subdiag[k] = rot.c() * sdk - rot.s() * dkp1;
-    
-    if (k > start)
-      subdiag[k - 1] = rot.c() * subdiag[k-1] - rot.s() * z;
-
-    // "Chasing the bulge" to return to triangular form.
-    x = subdiag[k];
-    if (k < end - 1)
-    {
-      z = -rot.s() * subdiag[k+1];
-      subdiag[k + 1] = rot.c() * subdiag[k+1];
-    }
-    
-    // apply the givens rotation to the unit matrix Q = Q * G
-    if (matrixQ)
-    {
-      // FIXME if StorageOrder == RowMajor this operation is not very efficient
-      Map<Matrix<Scalar,Dynamic,Dynamic,StorageOrder> > q(matrixQ,n,n);
-      q.applyOnTheRight(k,k+1,rot);
-    }
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SELFADJOINTEIGENSOLVER_H