casadi 3.6.4__cp38-none-win_amd64.whl → 3.6.6__cp38-none-win_amd64.whl

casadi/include/include/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h

@@ -1,220 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 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_AUTODIFF_VECTOR_H
-#define EIGEN_AUTODIFF_VECTOR_H
-
-namespace Eigen {
-
-/* \class AutoDiffScalar
-  * \brief A scalar type replacement with automatic differentation capability
-  *
-  * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)
-  *
-  * This class represents a scalar value while tracking its respective derivatives.
-  *
-  * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
-  *  - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
-  *  - internal::conj, internal::real, internal::imag, numext::abs2.
-  *
-  * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
-  * in that case, the expression template mechanism only occurs at the top Matrix level,
-  * while derivatives are computed right away.
-  *
-  */
-template<typename ValueType, typename JacobianType>
-class AutoDiffVector
-{
-  public:
-    //typedef typename internal::traits<ValueType>::Scalar Scalar;
-    typedef typename internal::traits<ValueType>::Scalar BaseScalar;
-    typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;
-    typedef ActiveScalar Scalar;
-    typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
-    typedef typename JacobianType::Index Index;
-
-    inline AutoDiffVector() {}
-
-    inline AutoDiffVector(const ValueType& values)
-      : m_values(values)
-    {
-      m_jacobian.setZero();
-    }
-
-
-    CoeffType operator[] (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType operator[] (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    CoeffType operator() (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType operator() (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    CoeffType coeffRef(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType coeffRef(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    Index size() const { return m_values.size(); }
-
-    // FIXME here we could return an expression of the sum
-    Scalar sum() const { /*std::cerr << "sum \n\n";*/ /*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/ return Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }
-
-
-    inline AutoDiffVector(const ValueType& values, const JacobianType& jac)
-      : m_values(values), m_jacobian(jac)
-    {}
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
-      : m_values(other.values()), m_jacobian(other.jacobian())
-    {}
-
-    inline AutoDiffVector(const AutoDiffVector& other)
-      : m_values(other.values()), m_jacobian(other.jacobian())
-    {}
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
-    {
-      m_values = other.values();
-      m_jacobian = other.jacobian();
-      return *this;
-    }
-
-    inline AutoDiffVector& operator=(const AutoDiffVector& other)
-    {
-      m_values = other.values();
-      m_jacobian = other.jacobian();
-      return *this;
-    }
-
-    inline const ValueType& values() const { return m_values; }
-    inline ValueType& values() { return m_values; }
-
-    inline const JacobianType& jacobian() const { return m_jacobian; }
-    inline JacobianType& jacobian() { return m_jacobian; }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline const AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
-    operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-    {
-      return AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
-        m_values + other.values(),
-        m_jacobian + other.jacobian());
-    }
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector&
-    operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      m_values += other.values();
-      m_jacobian += other.jacobian();
-      return *this;
-    }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline const AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
-    operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
-        typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
-          m_values - other.values(),
-          m_jacobian - other.jacobian());
-    }
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector&
-    operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      m_values -= other.values();
-      m_jacobian -= other.jacobian();
-      return *this;
-    }
-
-    inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >
-    operator-() const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >(
-          -m_values,
-          -m_jacobian);
-    }
-
-    inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>
-    operator*(const BaseScalar& other) const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
-          m_values * other,
-          m_jacobian * other);
-    }
-
-    friend inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >
-    operator*(const Scalar& other, const AutoDiffVector& v)
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
-          v.values() * other,
-          v.jacobian() * other);
-    }
-
-//     template<typename OtherValueType,typename OtherJacobianType>
-//     inline const AutoDiffVector<
-//       CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
-//       CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-//         CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
-//         CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >
-//     operator*(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-//     {
-//       return AutoDiffVector<
-//         CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
-//         CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-//           CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
-//           CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >(
-//             m_values.cwise() * other.values(),
-//             (m_jacobian * other.values()) + (m_values * other.jacobian()));
-//     }
-
-    inline AutoDiffVector& operator*=(const Scalar& other)
-    {
-      m_values *= other;
-      m_jacobian *= other;
-      return *this;
-    }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-  protected:
-    ValueType m_values;
-    JacobianType m_jacobian;
-
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_VECTOR_H

casadi/include/include/eigen3/unsupported/Eigen/src/BVH/BVAlgorithms.h

@@ -1,293 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// 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_BVALGORITHMS_H
-#define EIGEN_BVALGORITHMS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename BVH, typename Intersector>
-bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root)
-{
-  typedef typename BVH::Index Index;
-  typedef typename BVH::VolumeIterator VolIter;
-  typedef typename BVH::ObjectIterator ObjIter;
-
-  VolIter vBegin = VolIter(), vEnd = VolIter();
-  ObjIter oBegin = ObjIter(), oEnd = ObjIter();
-
-  std::vector<Index> todo(1, root);
-
-  while(!todo.empty()) {
-    tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);
-    todo.pop_back();
-
-    for(; vBegin != vEnd; ++vBegin) //go through child volumes
-      if(intersector.intersectVolume(tree.getVolume(*vBegin)))
-        todo.push_back(*vBegin);
-
-    for(; oBegin != oEnd; ++oBegin) //go through child objects
-      if(intersector.intersectObject(*oBegin))
-        return true; //intersector said to stop query
-  }
-  return false;
-}
-#endif //not EIGEN_PARSED_BY_DOXYGEN
-
-template<typename Volume1, typename Object1, typename Object2, typename Intersector>
-struct intersector_helper1
-{
-  intersector_helper1(const Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
-  bool intersectVolume(const Volume1 &vol) { return intersector.intersectVolumeObject(vol, stored); }
-  bool intersectObject(const Object1 &obj) { return intersector.intersectObjectObject(obj, stored); }
-  Object2 stored;
-  Intersector &intersector;
-private:
-  intersector_helper1& operator=(const intersector_helper1&);
-};
-
-template<typename Volume2, typename Object2, typename Object1, typename Intersector>
-struct intersector_helper2
-{
-  intersector_helper2(const Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
-  bool intersectVolume(const Volume2 &vol) { return intersector.intersectObjectVolume(stored, vol); }
-  bool intersectObject(const Object2 &obj) { return intersector.intersectObjectObject(stored, obj); }
-  Object1 stored;
-  Intersector &intersector;
-private:
-  intersector_helper2& operator=(const intersector_helper2&);
-};
-
-} // end namespace internal
-
-/**  Given a BVH, runs the query encapsulated by \a intersector.
-  *  The Intersector type must provide the following members: \code
-     bool intersectVolume(const BVH::Volume &volume) //returns true if volume intersects the query
-     bool intersectObject(const BVH::Object &object) //returns true if the search should terminate immediately
-  \endcode
-  */
-template<typename BVH, typename Intersector>
-void BVIntersect(const BVH &tree, Intersector &intersector)
-{
-  internal::intersect_helper(tree, intersector, tree.getRootIndex());
-}
-
-/**  Given two BVH's, runs the query on their Cartesian product encapsulated by \a intersector.
-  *  The Intersector type must provide the following members: \code
-     bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes intersects the query
-     bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the volume-object product intersects the query
-     bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) //returns true if the volume-object product intersects the query
-     bool intersectObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) //returns true if the search should terminate immediately
-  \endcode
-  */
-template<typename BVH1, typename BVH2, typename Intersector>
-void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector) //TODO: tandem descent when it makes sense
-{
-  typedef typename BVH1::Index Index1;
-  typedef typename BVH2::Index Index2;
-  typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1;
-  typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2;
-  typedef typename BVH1::VolumeIterator VolIter1;
-  typedef typename BVH1::ObjectIterator ObjIter1;
-  typedef typename BVH2::VolumeIterator VolIter2;
-  typedef typename BVH2::ObjectIterator ObjIter2;
-
-  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
-  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
-  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
-  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
-
-  std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));
-
-  while(!todo.empty()) {
-    tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);
-    tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);
-    todo.pop_back();
-
-    for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
-      const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        if(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))
-          todo.push_back(std::make_pair(*vBegin1, *vCur2));
-      }
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        Helper1 helper(*oCur2, intersector);
-        if(internal::intersect_helper(tree1, helper, *vBegin1))
-          return; //intersector said to stop query
-      }
-    }
-
-    for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Helper2 helper(*oBegin1, intersector);
-        if(internal::intersect_helper(tree2, helper, *vCur2))
-          return; //intersector said to stop query
-      }
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        if(intersector.intersectObjectObject(*oBegin1, *oCur2))
-          return; //intersector said to stop query
-      }
-    }
-  }
-}
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename BVH, typename Minimizer>
-typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root, typename Minimizer::Scalar minimum)
-{
-  typedef typename Minimizer::Scalar Scalar;
-  typedef typename BVH::Index Index;
-  typedef std::pair<Scalar, Index> QueueElement; //first element is priority
-  typedef typename BVH::VolumeIterator VolIter;
-  typedef typename BVH::ObjectIterator ObjIter;
-
-  VolIter vBegin = VolIter(), vEnd = VolIter();
-  ObjIter oBegin = ObjIter(), oEnd = ObjIter();
-  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
-
-  todo.push(std::make_pair(Scalar(), root));
-
-  while(!todo.empty()) {
-    tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);
-    todo.pop();
-
-    for(; oBegin != oEnd; ++oBegin) //go through child objects
-      minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));
-
-    for(; vBegin != vEnd; ++vBegin) { //go through child volumes
-      Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));
-      if(val < minimum)
-        todo.push(std::make_pair(val, *vBegin));
-    }
-  }
-
-  return minimum;
-}
-#endif //not EIGEN_PARSED_BY_DOXYGEN
-
-
-template<typename Volume1, typename Object1, typename Object2, typename Minimizer>
-struct minimizer_helper1
-{
-  typedef typename Minimizer::Scalar Scalar;
-  minimizer_helper1(const Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
-  Scalar minimumOnVolume(const Volume1 &vol) { return minimizer.minimumOnVolumeObject(vol, stored); }
-  Scalar minimumOnObject(const Object1 &obj) { return minimizer.minimumOnObjectObject(obj, stored); }
-  Object2 stored;
-  Minimizer &minimizer;
-private:
-  minimizer_helper1& operator=(const minimizer_helper1&);
-};
-
-template<typename Volume2, typename Object2, typename Object1, typename Minimizer>
-struct minimizer_helper2
-{
-  typedef typename Minimizer::Scalar Scalar;
-  minimizer_helper2(const Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
-  Scalar minimumOnVolume(const Volume2 &vol) { return minimizer.minimumOnObjectVolume(stored, vol); }
-  Scalar minimumOnObject(const Object2 &obj) { return minimizer.minimumOnObjectObject(stored, obj); }
-  Object1 stored;
-  Minimizer &minimizer;
-private:
-  minimizer_helper2& operator=(const minimizer_helper2&);
-};
-
-} // end namespace internal
-
-/**  Given a BVH, runs the query encapsulated by \a minimizer.
-  *  \returns the minimum value.
-  *  The Minimizer type must provide the following members: \code
-     typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
-     Scalar minimumOnVolume(const BVH::Volume &volume)
-     Scalar minimumOnObject(const BVH::Object &object)
-  \endcode
-  */
-template<typename BVH, typename Minimizer>
-typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
-{
-  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
-}
-
-/**  Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
-  *  \returns the minimum value.
-  *  The Minimizer type must provide the following members: \code
-     typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
-     Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2)
-     Scalar minimumOnVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2)
-     Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
-     Scalar minimumOnObjectObject(const BVH1::Object &o1, const BVH2::Object &o2)
-  \endcode
-  */
-template<typename BVH1, typename BVH2, typename Minimizer>
-typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer)
-{
-  typedef typename Minimizer::Scalar Scalar;
-  typedef typename BVH1::Index Index1;
-  typedef typename BVH2::Index Index2;
-  typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1;
-  typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2;
-  typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; //first element is priority
-  typedef typename BVH1::VolumeIterator VolIter1;
-  typedef typename BVH1::ObjectIterator ObjIter1;
-  typedef typename BVH2::VolumeIterator VolIter2;
-  typedef typename BVH2::ObjectIterator ObjIter2;
-
-  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
-  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
-  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
-  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
-  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
-
-  Scalar minimum = (std::numeric_limits<Scalar>::max)();
-  todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
-
-  while(!todo.empty()) {
-    tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);
-    tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);
-    todo.pop();
-
-    for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));
-      }
-
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Helper2 helper(*oBegin1, minimizer);
-        minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));
-      }
-    }
-
-    for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
-      const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        Helper1 helper(*oCur2, minimizer);
-        minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));
-      }
-
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));
-        if(val < minimum)
-          todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));
-      }
-    }
-  }
-  return minimum;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_BVALGORITHMS_H